High-precision position keeping control method for unmanned helicopters
An unmanned helicopter, keeping control technology, applied in three-dimensional position/channel control and other directions, can solve problems such as anti-wind disturbance, achieve the effect of improving control accuracy and eliminating position deviation
Inactive Publication Date: 2014-12-17
CHINA HELICOPTER RES & DEV INST
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Problems solved by technology
[0004] The purpose of the invention is to: solve the problem of anti-wind disturbance in the hovering state, have strong adaptability to high-frequency wind and low-frequency wind, and improve the accuracy of unmanned helicopter position maintenance
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[0046] A high-precision position keeping control method for an unmanned helicopter, the specific implementation method is as follows:
[0047] 1) As in the description of the attached figure figure 1 As shown, when an unmanned helicopter completes its mission and returns to the field to prepare for landing; if it is determined that the position deviation is greater than X1 (for example, 15 meters), it means that the wind field is too strong at this time, and it is difficult to eliminate the position deviation by control alone. Manual remote adjustment is used to compensate the control amount, which makes it easier to control the position within the X2 range.
[0048] 2) If it is determined that the position deviation is in the range of (X1, X2), for example (15 meters, 5 meters), the automatic trim mode can be activated at this time to automatically compensate the control amount and control the position deviation within the range of X2.
[0049] 3) Through the automatic trim ...
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The invention belongs to the technical field of flight control of unmanned helicopters and discloses a high-precision position keeping control method for the unmanned helicopters. The method is characterized by including the steps: when the positional deviation exceeds a threshold value X1, adopting a manual remote regulation mode; when the positional deviation is between threshold values X1 and X2, adopting an automatic trimming mode; when the positional deviation is smaller than the threshold value X2, adopting a high-precision position feedback control mode; controlling the positional deviation within X2 by means of automatic trimming, and adopting a nonlinear PID controller based feedback control method for providing a position control law. The high-precision position keeping control method is highly applicable to steady wind fields and turbulence fields. According to the position control law, after the position deviation accesses to a certain area, ride gain is increased along with reduction of deviation to guarantee control precision, and at the same time, a leading phase angle is increased to compensate for phase margin loss caused by ride gain increase, and accordingly stability can be guaranteed.
Description
technical field [0001] The invention belongs to the technical field of unmanned helicopter flight control, and relates to a method for maintaining the position of an unmanned helicopter in a hovering state. Background technique [0002] When an unmanned helicopter performs automatic landing on a restricted platform (building apron, ship deck, etc.), it has extremely high requirements for position control accuracy. The ADS-33 helicopter flight quality specification also has clear regulations on the position control accuracy. Although the modern control method can achieve superior performance than the traditional control, its design method must be based on the accurate mathematical model of the object, and it is difficult to establish an accurate mathematical model for the helicopter due to its complex dynamic characteristics. [0003] Therefore, based on physical concepts, the control method that does not pursue accurate models is highly recommended for the current flight co...
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IPC IPC(8): G05D1/10
Inventor 阚兆成曾国贵廖智麟王娟王刚强党少飞
Owner CHINA HELICOPTER RES & DEV INST