基于人机闭环仿真的无人直升机操作响应类型研究

Research on Operation Response Types of Unmanned Helicopter Based on Man-Machine Closed Loop Simulation

针对无人直升机低空飞行操纵控制过程中,控制难度大,操纵负荷大等问题,该文综合无人直升机操纵模型、低空风扰模型等形成人-机-环境闭环模型。基于无人直升机飞行控制律研究与设计采用指令姿态响应类型、指令速度响应类型和指令位置响应类型3类操作响应类型,并通过增益、插值表的应用,实现各响应类型的综合。在此基础上,完成人工自动着陆仿真,结果表明3类操作响应类型综合后能够有效提高控制精度,减轻操作手负担。

In order to solve the problems of difficult control and large control load in the low-altitude flight control process of unmanned helicopter, this paper integrates the unmanned helicopter control model and low-altitude wind disturbance model to form a man-machine-environment closed-loop model. Based on the flight control law of unmanned helicopter, three operation response types are studied and designed, which are command attitude response type, command speed response type and command position response type. The synthesis of each response type is realized through the application of gain and interpolation table. On this basis, the artificial automatic landing simulation is completed, and the results show that the synthesis of the three types of operation response can effectively improve the control accuracy and reduce the burden of the operator.