Unlock instant, AI-driven research and patent intelligence for your innovation.

Coaxial twin-rotor unmanned helicopter flight control method

An unmanned helicopter and coaxial dual-rotor technology, applied in the aviation field, can solve problems such as affecting response, affecting flight response, and uncertainty of control objects

Active Publication Date: 2017-10-17
SHENZHEN MINGXIN AVIATION TECH
View PDF8 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, due to the serious inherent coupling between the channels of unmanned helicopters, the nonlinearity of the actuator in one channel not only affects the flight response of this channel, but also strongly affects the response of other channels.
[0007] 2) Uncertainty of the control object

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Coaxial twin-rotor unmanned helicopter flight control method
  • Coaxial twin-rotor unmanned helicopter flight control method
  • Coaxial twin-rotor unmanned helicopter flight control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 11

[0053] Embodiment 1.1: The flight control method of the coaxial twin-rotor unmanned helicopter, the specific steps are divided into the following three steps: dynamic model linearization; H∞ control law design and controller switching logic design.

[0054] 4.1 Model linearization

[0055] Through the analysis in the previous section, we believe that for the state equation of the combination of coaxial dual rotors towing flexible cables, τ and k in the state matrix actually change with the flight parameters of the UAV. When we design the control system, we must select the corresponding operating point, and perform system linearization at this operating point, so as to expand the design of the control. According to the actual working state of the system, we select two working points in this patent, the first is the hovering state, and the second is the speed greater than 10m / s.

[0056] The model structure is as described in the previous section: y=Cx. Based on the lineariz...

Embodiment 12

[0091] Embodiment 1.2: A cable pay-off device, which includes a frame, which is composed of two frames with rectangular cross-sections connected integrally. The lengths and widths of the two rectangular frames are different, that is, a large rectangular frame and a The small rectangular frame includes a common side between the small rectangular frame and the large rectangular frame, and the optical cable reel 1 is embedded in the large rectangular frame, and the front part of the optical cable reel 1 in the large rectangular frame is equipped with a DC motor 2. The output shaft of the DC motor 2 is connected to the reel shaft of the optical cable reel 1, and the tension wheel 3 and the cable guide rail 4 are sequentially installed in the small rectangular frame from the back to the front. A cable motion sensor 5, an emergency cutter 6 is installed in front of the cable motion sensor 5, the cable on the optical cable reel 1 is connected to the tension wheel 3, and a tension whee...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

In order to consider a mutual relationship of an assembly body of the coaxial double-rotor unmanned helicopter, a pay-off device and a cable as well as tension control and aircraft speed of the cable, the invention discloses a set of complete control algorithm for cable tension control and aircraft robust control, which can realize stable gesture of the unmanned helicopter on the condition of guaranteeing constant cable tension. The flight control algorithm for the coaxial double-rotor unmanned helicopter comprises the following steps: comprehensively considering the control system of the flight control system through a dynamic model of the coaxial double-rotor unmanned helicopter and a flexible cable; adopting two independent models, wherein the core dynamic model is a dynamic equation used for individually reflecting the gesture and speed characteristics of the helicopter. The model is determined to be a two-input six-output system by the control structure; based on a state variable of the model, the flight control system for coaxial double-rotor unmanned helicopter, which is of a three-layer two-loop structure, is adopted.

Description

technical field [0001] The invention relates to a flight control method, in particular to a flight control method for a coaxial double-rotor unmanned helicopter, and belongs to the field of aviation technology. Background technique [0002] Because of its convenient take-off and landing, fixed-point hovering, and strong maneuverability, unmanned helicopters have a wide range of combat uses and have very considerable combat potential and development prospects. The countries that carried out the development of unmanned helicopters abroad include the United States, the United Kingdom, Canada, and Germany. Among them, the United States began to study unmanned helicopters in the 1950s. In the 1960s, the QH-50A anti-submarine remote control helicopter was successfully tested. During the Vietnam War, the US Army used the QH-50D unmanned helicopter to perform tasks such as reconnaissance, battlefield surveillance, and artillery target observation. Due to the many difficulties in th...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 不公告发明人
Owner SHENZHEN MINGXIN AVIATION TECH