基于Stateflow的直升机自动过渡悬停的设计

Design of Automatic Transition and Hovering for Helicopter Based on Stateflow

过渡悬停是直升机执行很多任务时必须完成的飞行任务,当直升机在海上飞行时,在一望无际的海面上空,飞行员目视判断高度比较困难,在低空进行救援,吊拽或者利用"声纳"搜索敌方潜艇进行反潜作战等任务时很不方便,这时一个能实现直升机过渡悬停的自动驾驶仪显得尤为重要;文中设计了一种新型的自动过渡悬停系统,在高度下降指令中加了法向速度反馈,在纵向地速减小过程中增加了抛物线减速阶段;并用stateflow和simulink工具对所设计的系统进行了验证,得到的过渡曲线平滑且满足加速度的指标要求,证明所设计系统的正确性。

The transition and hovering is inevitable flight mission for helicopter to complete many tasks. When the helicopter is flying at sea, the pilot can not judge the height accurately above the endless sea, thus, it is very inconvenient to execute tasks, such as rescuing in low level, hanging and suspending something, searching enemy submarine with sonar and so on and a autopilot which has transition and hovering function is extremely important at the moment. A new kind of automatic transition and hovering system has been designed, which has added vertical speed feedback in instructions of height and increased parabolic slowdown in portrait speed. It is well demonstrated about the correctness of the system with stateflow and simulink and the transition response meets the index requirements.