无人直升机着陆过程边界保护控制技术研究

Research on Boundary Protection Control Technology for Unmanned Helicopter Landing Process

无人直升机着陆过程的关键是下降速度的平稳控制和位置的精确控制,以避免较大的速度触地或偏离着陆点过远引发的安全风险。针对该问题提出了一种无人直升机着陆过程边界安全保护策略,利用高度通道控制律切换和总距自动配平解决下降速度异常,通过高精度位置控制律以及垂向和位置回路的协同解决位置偏差。通过半物理实时仿真验证了该控制方法的有效性。

To avoid safety risk caused by high speed landing or deviation from landing point, the key is the stability of descent speed control and the precision of position control for the landing process of unmanned helicopter. In order to solve this problem, a boundary control strategy for unmanned helicopter landing process is proposed, which used vertical control law switching and collective automatic trim to solve the abnormal descent speed, solving excessive position deviation is by means of high precision position control law and cooperation between vertical and position loop. The effectiveness of the control method is verified by hard-in-loop real-time simulation.