新型复合式无人直升机悬停／着陆控制

Hover/Landing Control for the Novel Compound Unmanned Aerial Helicopter

旋翼-涵道复合式无人直升机是一种具有特殊机体结构的新型无人直升机,悬停和着陆控制是该类无人直升机飞行控制设计的一大难点。依据复合式无人直升机运动机理建立了非线性动力学模型,在悬停配平状态下进行小扰动线化和降阶处理,给出了用于控制律设计和仿真的线性模型。运用期望隐模型和特征结构配置方法设计了姿态角速度与垂向速度控制内回路,内回路输出角速度积分得到的姿态角反馈和线速度反馈构成纵横向线速度控制外回路。悬停/着陆仿真验证了内回路能实现良好的角速度指令跟踪解耦控制,外回路能实现良好的悬停位置保持和着陆轨迹跟踪控制。

The rotor ducted-fan compound unmanned aerial helicopter （UAH） with special airframe structure is a novel type of UAH. The hover/landing control is one of the difficulties of the flight control design for the UAH. Firstly, nonlinear dynamics of flight mechanism of the compound UAH was modeled. The small disturbance linearized models of the UAH were constructed through hover trim calculation. The linearized models were reduced in order to fit the flight control law design and simulation. Secondly, the inner control loops of attitude angular rate and vertical velocity were designed using the expected implicit model and eigenstructure assignment （EA） method. The outer control loops of longitudinal and latitudinal velocities were implemented using attitude angle and velocity feedbacks. Attitude angles were obtained directly through integrating angular rates from the outputs of the inner control loops. Finally hover and landing control simulations were conducted and some results were given out. It was demonstrated that the designed inner control loops have good angular rate command decoupling and tracking performances, and that the designed outer control loops have good hover position hold and landing trajectory following abilities.