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无人直升机具有悬停、小速度全向机动、大速度前飞等飞行能力,其飞行包线范围大,对飞行控制律设计的要求很高。无人直升机在进行自动航线飞行时,不仅涉及的飞行模态多,而且需要满足复杂的飞行航线需求。根据无人直升机复杂的航线飞行特点,对其航线飞行过程进行区域划分,针对不同划分区域,采用工程上常用的PID控制方法和衰减软化技术,设计了高度控制器、纵向位置控制器、横向位置控制器、协调转弯控制器和控制器间的切换算法,并进行典型航线飞行的数字仿真。仿真结果显示,无人直升机飞行航迹与设定航线的重合性较好,模态切换稳定平滑,从而验证了无人直升机自动航线飞行控制律设计的正确性,为后续工程应用奠定基础。
Unmanned helicopter with hover, small-speed omnidirectional maneuver, high-speed flight and other flight capabilities, the scope of its flight envelope, the requirements of the flight control law design is high. Unmanned helicopters in the automatic flight routes, not only involved in the flight mode and more, and need to meet the complex flight route needs. According to the complicated route flight characteristics of unmanned helicopters, the flight process of the unmanned helicopters is divided into different regions. According to the commonly used PID control method and attenuation softening technology in different divided areas, the height controller, longitudinal position controller, lateral position The controller coordinates the switching algorithm between the turn controller and the controller and performs the digital simulation of the typical airline flight. The simulation results show that the unmanned helicopter flight path coincides well with the set route and the mode switching is stable and smooth, which verifies the correctness of the design of flight control law for the unmanned helicopter automatic flight route and lays the foundation for the subsequent engineering application.