A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.

Robust Adaptive Control Design for Rotorcraft Unmanned Aerial Vehicles Based on Sliding Mode Approach

This paper presents a nonlinear robust control design method for a generic rotorcraft unmanned aerial vehicle(RUAV). The control objective is to let the RUAV track some pre-defined time-varying position and heading trajectories. The proposed controller employs feedback linearization process to realize the dynamic decoupling control and applies adaptive sliding mode control to compensate for the parametric uncertainties and external disturbances. The global asymptotical stability is proved via stability analysis. Compared with the cascaded controller, the proposed controller demonstrates a superior tracking performance and robustness through numerical simulation in the presence of parametric uncertainties and unknown disturbances.

Research and Simulation of Navigation Control System for Agricultural Unmanned Rotation Rotorcraft

In order to improve the efficiency of field operations, such as pesticide spraying and pest control, the development of new agricultural machinery has become the main goal of agricultural modernization. At present, small unmanned aerial vehicles(UAVs) have achieved good results in small area pesticide spraying, but they still do not meet the requirements of the big field operations. The rotation rotorcraft has the characteristics of low speed, good safety, super stol, strong endurance, strong wind resistance and simple mechanism, so it is very suitable for farmland operation. But at present, there are relatively few researches on the unmanned rotation rotorcraft at domestic and abroad, and there is no mature control theory system of unmanned rotation rotorcraft. Therefore, in order to solve the problem of navigation control system of unmanned rotation rotorcraft, the navigation control strategy of the rotation rotorcraft was studied in this paper, and the flight control strategy of the rotation rotorcraft was divided into two parts, the linear control and the turn control. The lateral correction strategy was used to control the rotorcraft, so as to complete the track guidance of the rotation rotorcraft. Using the matrix laboratory(MATLAB) modeling to simulate the circular trajectory and the serpentine trajectory, the maximum deviation of circular path offset was 1.1 m. The variance between the path angle and the given path angle was 6°. The maximum deviation of serpentine path offset was 0.6 m. The variance between the path angle and the given path angle was 8°. The simulation results showed that the rotorcraft could accomplish the scheduled trajectory task based on this control strategy.

Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft

In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests.

水下旋翼式平台近水底扰动定深控制方法研究

针对水下旋翼式平台在近水底工作时的时变非线性干扰问题,提出一种基于干扰观测器的动态面控制器以实现水下旋翼式平台的近水底定深控制。首先,采用水下航行器建模理论并结合牛顿欧拉方法建立水下旋翼式平台的运动学和动力学模型;然后,采用动态面控制方法处理系统的非线性特性,引入一阶滤波器对虚拟控制律进行滤波,以此来代替复杂的微分运算,同时,通过非线性干扰观测器对系统内外部总扰动进行观测估计,并通过李雅普诺夫理论证明系统的稳定性;通过仿真实验验证所设计控制策略在白噪声模拟的随机干扰和参数不确定条件下的有效性;最后,设计开发实验样机,并在不同期望深度的近水底开展定深实验。研究结果表明:在水底反冲击力的作用下,相比动态面控制和串级PID控制,采用所设计的控制策略,平台姿态通道和深度通道的控制精度均有不同程度的提高,说明所提出的控制方法具有较好的鲁棒性,可有效解决近水底扰动问题。

High-resolution simulation for rotorcraft aerodynamics in hovering and vertical descending flight using a hybrid method

A high-resolution simulation tool for rotorcraft aerodynamics is developed by coupling CFD with a Vorticity Transport Model（VTM）. An Eulerian-based CFD module is used to model the blade near body flowfield, and a Lagrangian-based VTM module is employed for vortex tracking in the far wake. The coupling procedure is implemented by transmitting vortex sources to the VTM module and feeding boundary conditions back to the CFD module. The presented CFD/VTM hybrid solver is firstly validated by hover cases of three different rotor configurations. Simulation results, including the blade surface pressure distribution, rotor downwash, and hover figure of merit, exhibit favorable correlations with available experimental data. Then, a rotor operated in vertical descending flight with a fixed collective pitch is investigated. It is shown that the CFD/VTM coupling method is suitable for rotor wake simulation. Wake instabilities（far wake breakdown in hover and toroidal wake pattern in the vortex ring state） are successfully demonstrated with a moderate computational cost.

The Model Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Ant Colony Algorithm

This paper proposes a model identification method to get high performance dynamic model of a small unmanned aerial rotorcraft. With the analysis of flight characteristics, a linear dynamic model is constructed by the small perturbation theory. Using the micro guidance navigation and control module, the system can record the control signals of servos, the state infor- mation of attitude and velocity information in sequence. After the data preprocessing, an adaptive ant colony algorithm is proposed to get optimal parameters of the dynamic model. With the adaptive adjustment of the pheromone in the selection process, the proposed model identification method can escape from local minima traps and get the optimal solution quickly. Performance analysis and experiments are conducted to validate the effectiveness of the identified dynamic model. Compared with real flight data, the identified model generated by the proposed method has a better performance than the model generated by the adaptive genetic algorithm. Based on the identified dynamic model, the small unmanned aerial rotorcraft can generate suitable control parameters to realize stable hovering, turning, and straight flight.

Rotorcraft flight endurance estimation based on a new battery discharge model

To avoid the numerical complexities of the battery discharge law of electric-powered rotorcrafts,this study uses the Kriging method to model the discharge characteristics of Li-Po batteries under standard conditions.A linear current compensation term and an ambient temperature compensation term based on radial basis functions are then applied to the trained Kriging model,leading to the complete discharged capacity-terminal voltage model.Using an orthogonal experimental design and a sequential method,the coefficients of the current and ambient temperature compensation terms are determined through robust optimization.An endurance calculation model for electric-powered rotorcrafts is then established,based on the battery discharge model,through numerical integration.Laboratory tests show that the maximum relative error of the proposed discharged capacity-terminal voltage model at detection points is 0.0086,and that of the rotorcraft endurance calculation model is 0.0195,thus verifying their accuracy.A flight test further demonstrates the applicability of the proposed endurance model to general electric-powered rotorcrafts.

An overview on development of miniature unmanned rotorcraft systems

In this article,we attempt to document a technical overview on modern miniature unmanned rotorcraft systems.We first give a brief review on the historical development of the rotorcraft unmanned aerial vehicles(UAVs),and then move on to present a fairly detailed and general overview on the hardware configuration,software integration,aerodynamic modeling and automatic flight control system involved in constructing the unmanned system.The applications of the emerging technology in the military and civilian domains are also highlighted.

旋翼飞行器飞行人员空间定向障碍研究进展及展望

空间定向障碍(spatial disorientation,SD)的发生率较高,对飞行安全构成了重大威胁。目前对于旋翼飞行器飞行员在空间定向方面的研究相对较少,在领域内缺乏足够的关注。与固定翼飞行器飞行员不同,旋翼飞行器飞行员面临的空间定向障碍具有明显的特点和不同的挑战。在过去的百年中,通过模拟训练旋翼飞行器飞行员可以有效地减少空间定向障碍相关的飞行事故。这方面已经取得了长足的进展。随着虚拟现实技术和人工智能的迅猛发展,这一方法在未来仍有许多值得关注的领域。近些年,研究人员从认知形成过程的角度探究空间定向障碍的发生机制,为其预警提供新的针对性靶点。从此类人员空间定向障碍发生特点、针对性模拟训练和发生机制三方面回顾相关研究进展并展望未来探索方向,对有效降低相关空间定向障碍的发生率以及导致的事故率具有重要的军事意义。

用于旋翼飞机开发研究的多分野解析框架

介绍了日本宇宙航空研究开发机构研发的用于旋翼飞机的多分野解析框架。Heli Design是在各种旋翼飞机初期概念设计时使用的软件;rFlight可以提供在各种飞行条件下的平衡解析和线性化飞行模型;rBET/RMT是基于叶片要素理论的低保真度空力解析软件,和rMode提供的结构模型结合,可以推测旋转翼的弹性变形和各种飞行条件下的空力负载;rFlow3D是基于CFD计算的高保真度数值模拟软件;rGrid系列自动网格构造工具为其提供简单的网格生成;基于rFlow3D的计算结果,r Noise可以预测在任何观测点的噪声。这些软件已经广泛地被应用在各种新型旋翼飞机的开发研究中,其计算精度也已被各种实验结果所应证。

旋翼动态失速与反流流动控制研究进展

直升机在大载荷高速前飞时,旋翼桨叶桨距变化较大,易发生动态失速;后行桨叶内段旋转线速度较低,在来流叠加下形成反流区,导致桨叶气动效率降低,由此产生的桨叶疲劳失效和升力下降问题阻碍直升机性能的进一步提升。流动控制方法在改善翼型气动特性方面具有较大潜能,是提升旋翼气动效率、保障直升机安全的有效路径之一。本文阐述了旋翼反流区和动态失速的形成机理及非定常流动特征,综述了2种特殊气动现象的研究成果。对比分析了优化翼型几何构型、添加表面机械结构、吹气控制、等离子体控制、合成射流控制和后缘小翼控制等流动控制方法对旋翼动态失速及反流控制的机理,总结了控制参数和流场参数对控制效果的影响规律,分析了各种方法在应用中存在的问题,对发展方向进行了展望。

基于图论的共轴主减速器轻量化设计方法

主减速器是直升机传动系统的重要部件,其质量指标对整机性能有着重要影响。以共轴反转直升机的主减速器为对象,提出了一种基于图论的主减速器构型设计方法。1)通过对现有共轴主减速器资料的归纳,得到连接规律、边界条件和齿轮单元;2)建立主减速器对应邻接矩阵的自动生成方法,并将邻接矩阵转换为改进的图论模型;3)生成方案集合并建立筛选规则,得到主减速器的可行方案集合;4)利用序列二次规划算法建立基于齿轮强度约束的优化程序,对可行方案的齿轮质量进行筛选,得到齿轮总质量最小的主减速器方案。为验证此方法的合理性,给出了三级圆柱齿轮构型主减速器方案的设计过程,筛选出一种可行方案。

基于自适应起落架的旋翼飞行器着陆稳定性分析

传统起落架在复杂地形条件下存在着陆困难的问题,而自适应起降装置的引入能够有效提高旋翼飞行器的地形适应能力,但其着陆稳定性分析也变得更加复杂。当旋翼飞行器在着陆过程中姿态倾斜较大时,存在严重的安全隐患。因此,采用了一种应用于旋翼飞行器的新型自适应起落架,建立了其着陆动力学模型,并综合考虑了地况、飞行器着陆位姿状态、足端-地面摩擦力以及着陆速度等的影响。通过Simcenter3D进行全机着陆动力学仿真试验,得到了该构型自适应起降飞行器在不同速度和坡角条件下的着陆稳定边界。结果表明:相较于传统起落架,自适应起落架使旋翼飞行器可适应的地形坡角增大了50%,着陆稳定边界扩大了122%,有效提高了旋翼飞行器的地形适应能力和着陆稳定性。

基于旋翼无人机探测的一次强浓雾边界层结构分析

利用常规气象观测资料、射阳站探空资料、旋翼无人机探测资料等,分析2019年10月19日夜间到20日江苏东部沿海地区一次强浓雾过程的边界层特征。根据无人机垂直观测资料及湍流参数Ri结果发现:大雾形成之前到大雾成熟阶段,近地面始终存在强贴地逆温,最大逆温强度达4.6℃/(100 m)。在大雾形成到发展阶段,逆温逐渐增强,弱湍流区的发展高度也逐渐抬升,最大发展高度达280 m,雾层厚度逐渐增大。大雾成熟阶段,逆温层高度达到最大250 m,而此时受太阳辐射影响,逆温层上层湍流开始逐渐增强,弱湍流区发展高度降至150 m。大雾消散阶段,逆温减弱,雾层厚度迅速降低,湍流增强,逆温层逐渐趋于消散。在大雾形成之前到大雾成熟阶段,逆温层之上均存在较大的东南风,海上暖湿气流的输送不仅使逆温得以加强和维持,而且在冷的下垫面上促进了水汽凝结,从而形成了东部沿海地区的强浓雾。无人机垂直观测完整的获取了此次大雾过程的边界层结构变化特征,Ri的结果很好地反映了大雾发生期间稳定层高度的变化情况。

旋翼无人机的双目视觉避障技术综述

在复杂环境中执行任务已经成为旋翼无人机发展的必然趋势。为了让旋翼无人机在复杂环境中高效、安全地执行任务,学者们对旋翼无人机的双目视觉避障技术展开了广泛的研究。为了解旋翼无人机的双目视觉自主避障技术的现状及发展趋势,首先,介绍了双目视觉避障系统的构成,分析各技术在双目视觉避障系统中的作用;然后,重点介绍双目视觉避障技术中常用的相机标定方法、立体匹配算法和避障算法,总结了各自的优缺点,并阐述最新发展;最后,对双目视觉避障技术的发展方向进行了展望。

基于多域特征融合的旋翼无人机分类识别

为提高雷达旋翼无人机的识别效果,本文提出一种基于多域特征融合的旋翼无人机分类方法。首先利用K波段连续波(Continuous Wave,CW)雷达观测多旋翼无人机,对采集到的雷达回波信号进行信号处理依次得到时频图、节奏速度图(Cadence⁃Velocity Diagram,CVD)和节奏频谱图(Cadence Frequency Spectrum,CFS),然后将时频图和CVD图分别输入SqueezeNet网络,CFS数据输入一维卷积神经网络(1⁃D⁃CNN)提取回波信号在时频域、节奏速度域和节奏频率域的特征,最后将特征融合输入支持向量机(Support Vector Machine,SVM)进行分类。实测雷达数据处理的结果表明基于多域特征融合的旋翼无人机分类识别方法对三类旋翼无人机的分类准确率达到99.14%。

运输类旋翼航空器飞行控制适航要求研究

运输类旋翼航空器飞行控制系统总则条款CCAR 29.671仅给出顶层的适航安全目标和要求,在面向工程实践所需的适航审定建议方面存在不足。在解析适航规章和技术标准的基础上,结合实际工程实践给出了该条款适航要求和符合性方法的定性和定量建议,并提出了在电传飞行控制方面的适航要求和符合性方法建议。

基于任务需求的高速旋翼机多方案对比研究

高速旋翼机能够满足我国复杂地理环境对航空装备提出的特定任务需求,是未来飞行器重点研究方向之一。为探究在特定任务下不同高速旋翼机构型的性能特点和任务能力,本文围绕我国高原、远洋任务需求,提出满足大速度、远航程、强机动等要求的双倾转旋翼、四倾转旋翼构型概念方案。基于任务需求指标建立总体参数估算模型、飞行性能计算模型和任务效能评估模型,从悬停效率、巡航性能、投送能力、机动能力等多个维度对不同构型方案进行对比分析,为未来高速旋翼机研究提供参考。