在线滚动优化下的无人自转旋翼机自动起飞控制

Autonomous takeoff controller design for the unmanned gyroplane with online receding horizon control algorithm

自转式旋翼机的旋翼是一种无动力升力装置,旋翼需来流吹动旋转而获得升力,因此自转旋翼机大多采用滑跑方式起飞.由于自转旋翼机具有特殊的气动特性和操纵特点,基于姿态控制的滑跑起飞策略不能直接用于无人自转旋翼机的起飞控制.本文针对无人自转旋翼机所特有的旋翼桨盘迎角、地速和气动升力之间相互约束和制约的特点,在分析无人自转旋翼起飞阶段动力学特性的基础上,提出了一种基于在线滚动优化理论的无人自转旋翼机起飞控制方法.通过预测未来有限时间内无人自转旋翼机的运动状态,得到起飞过程的最优控制序列,能够维持无人自转旋翼机在起飞过程中始终具有足够的升力和合适的爬升角.通过仿真验证和分析,证明了本文所提出的控制算法能够实现无人自转旋翼机的平稳起飞.

The rotor of the gyroplane is a type of non-powered lifting devices, which requires the incoming air stream to generate aerodynamic forces. Because of the special aerodynamic characteristics and manipulability of the gyroplane,the conventional attitude-based takeoff control strategy cannot be directly applied. In this paper, we present an unmanned gyroplane take-off control approach based on the concept of receding horizon control theory, which is capable of dealing with the nonlinear coupling effects between rotor disk tilt angle, ground velocity and lifting force of the gyroplane during the takeoff process. The future dynamics of the gyroplane are predicted and introduced to the takeoff controller, and the optimal control sequence is then determined through a genetic algorithm. The newly developed method is able to maintain sufficient lifting force and appropriate climbing angle during the takeoff. A series of simulations demonstrated the efficiency and flexibility of the proposed algorithm.