Flight control method for transition section of tilt-rotor unmanned helicopter
An unmanned helicopter, tilt-rotor technology, applied in the field of flight control, can solve the problem of less application
Active Publication Date: 2017-07-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
However, there are few applications in the field of aircraft control technology
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[0046] The present invention provides an optimal predictable flight control method for the transition section of a tilt-rotor unmanned helicopter. In order to make the purpose of the present invention, the technical solution and the effect are clearer and clearer, and the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific implementations described herein are only used to explain the present invention, but not to limit the present invention.
[0047] The optimal foreseeable flight control method of the transition section of the tilt-rotor unmanned helicopter of the present invention is adopted, and the specific steps are as follows.
[0048] Step 1. First, establish a nonlinear model of the transition section of the tilt-rotor unmanned helicopter. In the body coordinate system, the six-degree-of-freedom equations of aircraft dynamics and kinematics can take the following form.
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A method for controlling flying of a tilt-rotor unmanned helicopter in a transition section is characterized in that the optimal preview control is adopted, and by fusing system motion equation constraints, a preview ideal state and the optimal performance index constraint information, the flying of the tilt-rotor unmanned helicopter in the transition section is controlled; specifically, the method comprises the steps that firstly, a nonlinear model is set up for the transition section of the tilt-rotor unmanned helicopter, and then a liner equation for state space description is obtained in the mode that trimming and linearization at different nacelle dip angles are achieved; secondly, based on the linear model, the optimal preview controller is designed, and the flying speed, the flying height and the flying attitude angle in the transition process are controlled; finally, inertia delay desalted equipment is designed for achieving smooth transition of the tilt-rotor unmanned helicopter between different nacelle dip angles. According to the method for controlling flying of the tilt-rotor unmanned helicopter in the transition section, by fusing a predicable expected speed, a height, an attitude angle and other information, safe switching between modes of the tilt-rotor unmanned helicopter is achieved.
Description
technical field [0001] The invention relates to a flight control method for a transition section of a tilt-rotor unmanned helicopter, in particular to a flight control method for optimal predictive control, which belongs to the technical field of flight control. Background technique [0002] A tiltrotor is a hybrid aircraft that can fly forward like a fixed-wing aircraft, while also being able to take off and land vertically and hover like a helicopter. The special performance of the tilting rotor aircraft has expanded its range of use in military and civilian use. The American "Eagle Eye" is a tilting rotor unmanned helicopter currently under development. [0003] Tilting rotorcraft has brought many new problems and technical difficulties: on the one hand, the control method and flight mode of the aircraft are relatively complicated, which increases the difficulty of model description in the transition section. There are both air rudder control and pull vector control. Not...
Claims
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IPC IPC(8): G05D1/10
Inventor 浦黄忠甄子洋郜晨
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS