Control method for guarding against the swing like the pendulum of unmanned helicopter in type of no control rotor

Abstract

An anti-pendulum controlling-method of pilotness helicopter with no tail rotor includes forming the first closed control internal loop by pitching angle rate and rolling angle rate through stability-increasing controls, forming the second closed control internal loop by pitching angle and rolling angle through controllers, forming acceleration closed control loop by longitudinal acceleration and horizontal acceleration through stability-increasing controls and forming speed closed control loop by longitudinal speed and horizontal speed through speed regulators.

Description

technical field [0001] The invention relates to an anti-pendulum control method of a tailless rotorless unmanned helicopter, which can prevent the new unmanned helicopter from entering the pendulum state when hovering. Background technique [0002] The phenomenon of the pendulum is that an object revolves around a fixed end of itself and swings regularly and repeatedly within a certain range. Its characteristic is that one end is fixed and the other end can move freely. Under ideal conditions, the pendulum angle presents periodic changes. Since the configuration of the tailless unmanned helicopter has the condition of inducing a pendulum, its swing is two-dimensional, that is, there are two directions: longitudinal and lateral; the pendulum length is uncertain, but bounded, when the aircraft is in the When performing a flight mission, as the amount of fuel in the aircraft changes, the center of gravity of the aircraft changes, and other uncertain factors such as equipment in...

AI Technical Summary

Problems solved by technology

Since the configuration of the tailless unmanned helicopter has the condition of inducing a pendulum, its swing is two-dimensional, that is, there are two directions, longitudinal and lateral; the pendulum length is uncertain, but bounded, when the aircraft is in the When performing a flight mission, as the amount of fuel in the aircraft changes, the center of gravity of the aircraft changes, and other uncertain factors such as equipment installation also affect the position and symmetry of the center of gravity, and the pendulum length will change accordingly; in addition, The fixed point around which the pendulum swings is passively moved in a plane or space due to external forces that are not related to the pendulum itself. This movement is not affected by the swing, but it can affect the swing

This tailless unmanned helicopter adopts conventional unmanned helicopter control methods. When hovering, it will cause longitudinal and lateral swings due to external gusts and other disturbances, endangering the flight safety of unmanned helicopters.

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