小型无人直升机自动起降控制技术研究及验证

Auto-takeoff and Auto-landing Control Design for Small Unmanned Helicopter

针对无人直升机有/无地效悬停状态的飞行特性,综合考虑在自动起飞与自动着陆过程中无人直升机过渡状态存在明显的差异,开展了无人直升机自动起降过程控制特性研究,给出了无人直升机自动起降控制策略及其控制律,进行了半物理仿真,并将研究成果应用到样例无人直升机的自动起降控制中,较好地实现了样例无人直升机的自动起降功能并满足相应的控制要求。

According to the flying speciality of the unmanned helicopter ground effect and out of ground effect hanging state,this article researched the unmanned helicopter auto-takeoff and auto-landing process control speciality,which synthetically considered the obvious difference of the transi-tion state of the unmanned helicopter in process of auto-takeoff and auto-landing.Article showed control tactic and control law of the unmanned helicopter auto-takeoff and auto-landing,and achieve self-physics emulation.The research result of article was used to the unmanned helicopter auto-take-off and auto-landing control.The result showed that achieve the unmanned helicopter auto-takeoff and auto-landing function and satisfy control need.