基于侧偏修正的无人驾驶旋翼机转弯飞行控制

针对无人自转旋翼机在转弯飞行过程中,由于外界扰动而导致的飞行轨迹偏离问题,对无人自转旋翼机的转弯飞行机理和受力情况进行了分析,在此基础上,提出一种以侧偏距离和侧偏率来修正旋翼机滚转角指令和航向角速率指令的控制策略,给出了基于侧偏修正的旋翼机转弯飞行控制回路。仿真结果表明:所提方法能够使得旋翼机在转弯过程中精确跟踪预定航迹,达到预期的控制效果。

Turning Flight Control of Unmanned Gyroplanes Based on Deviation Correction

The trajectory of the unmanned gyroplane will deviate from the set route in the process of turning flight. Aiming to the problem, the mechanism and stress are analyzed in the process of turning flight on the unmanned gyroplane first. Based on this, a control method that the deviated distance and deviated rate are used to fix the roll command and heading rate command is presented. The turn model control loop is designed accordingly to achieve the flight control under the set turning route. Simulation results show that the gyroplane can track the desired trajectory accurately by using the proposed method. The desired effects are achieved.