[1]孙 飞,祖家奎,刘佳晖.中型无人直升机向心回转机动飞行控制律设计[J].机械与电子,2024,42(03):54-59.
　SUN Fei,ZU Jiakui,LIU Jiahui.Design of Hovering Turn Maneuver Flight Control Law for Medium Unmanned Helicopters[J].Machinery & Electronics,2024,42(03):54-59.
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中型无人直升机向心回转机动飞行控制律设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年03期
页码:
54-59
栏目:
智能制造
出版日期:
2024-03-25

文章信息/Info

Title:
Design of Hovering Turn Maneuver Flight Control Law for Medium Unmanned Helicopters
文章编号:
1001-2257 ( 2024 ) 03-0054-06
作者:
孙 飞; 祖家奎; 刘佳晖
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
SUN Fei ;  ZU Jiakui ;  LIU Jiahui
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
直升机控制; 机动飞行; 滑模控制; 控制律设计
Keywords:
helicopter control ;  maneuver flight ;  sliding mode control ;  control law design
分类号:
V279
文献标志码:
A
摘要:
向心回转是直升机的一个标准机动飞行科目,其可以综合检验直升机各通道的控制性能。针对中型无人直升机向心回转机动中姿态控制和速度控制的问题,提出一种增强飞行过程中稳定性和快速性的控制律设计方法。首先,根据 ADS 3E PRF ,设计了向心回转机动的控制指令。随后,在内外环串联的通道控制结构基础上,通过推导得出直升机滑模控制律,从而设计姿态内回路的滑模控制器,对比 PID 控制器得到了更好的姿态增稳效果和更快的响应速度。最后,通过半物理仿真系统的仿真实验,结合向心回转机动的指标,验证了所设计的方法能有效完成向心回转机动,并达到了满意的标准。
Abstract:
Hovering Turn is a standard maneuver flight subject for helicopters , which can comprehensively test the control performance of each channel of the helicopter.A control law design method was proposed to enhance the stability and rapidity during flight for attitude control and speed control in the centripetal rotation maneuver of medium-sized unmanned helicopters.Firstly , according to the ADS-33E-PRF , the control command of hovering turn maneuver was designed.Subsequently , based on the channel control structure connected in series with the inner and outer loops , the helicopter sliding mode control law was derived , and a sliding mode controller for the attitude inner loop was designed.Compared with the PID controller , better attitude stabilization effect and faster response speed were obtained.Finally , through simulation experiments on a semi physical simulation system , combined with the indicators of hovering turn maneuver , it was verified that the designed method can effectively complete the hovering turn maneuver and meet satisfactory standards.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-07-05
作者简介:孙 飞 ( 1998- ),男,江苏常州人,硕士研究生,研究方向为无人直升机飞行控制;祖家奎 ( 1974- ),男,江苏徐州人,副研究员,研究方向为直升机飞行控制技术、无人机控制系统。
更新日期/Last Update: 2024-03-25