某型自旋翼无人机横侧向控制策略研究

Research onlateral control strategy for unmanned autogyro

以某型自旋翼无人机为研究对象,依据分部件建模的思想,建立样例自旋翼无人机的非线性动力学模型。在此基础上,对非线性模型进行线性化处理,并对线性模型进行相应的特性分析,得到其横侧向所存在的问题与难点。针对横侧向飞行控制存在的难点,根据经典控制理论以及固定翼飞机控制策略设计自旋翼无人机横侧向直飞模态与转弯模态两种飞行控制策略。仿真及实飞验证结果表明,所设计的飞行控制策略实时性与鲁棒性均得到保障,满足飞行要求。

An unmanned autogyro is taken as the research object.The nonlinear dynamic model of the unmanned autogyro is obtained based on the idea of sub-component modeling.On this basis,the nonlinear model is linearized,and the corresponding characteristics of the linear model are analyzed to obtain the problems and difficulties in the lateral direction.For the difficulties in lateral flight control,two flight control strategies,namely the lateral direct flight mode and the turning mode of the unmanned autogyro are designed according to the classic control theory and the control strategy of the fixed-wing aircraft.Simulation and flight test show that the real-time and robustness of the designed control strategy are guaranteed,and can meet the flight requirements.