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A method for unmanned helicopter heading compensation route transition

An unmanned helicopter and helicopter technology, applied in three-dimensional position/channel control, vehicle position/route/altitude control, instruments, etc., can solve the problems of reducing the safety performance of unmanned helicopters, large rolling slope and sideslip, etc. Accurate tracking control, safe rolling gradient, and reduced sideslip effects

Active Publication Date: 2021-02-26
CHINA HELICOPTER RES & DEV INST
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Problems solved by technology

Adopting a circular arc route tracking control method similar to that of a fixed wing will cause a large roll slope and sideslip, which will reduce the safety performance of the unmanned helicopter

Method used

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  • A method for unmanned helicopter heading compensation route transition
  • A method for unmanned helicopter heading compensation route transition
  • A method for unmanned helicopter heading compensation route transition

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Embodiment Construction

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention.

[0054] The method for unmanned helicopter heading compensation route transition of the present invention is generally divided into:

[0055] 1) The lateral channel adopts zero-speed hold control, which removes the constraints of the circular heading trajectory, avoids large sideslip caused by precise position hold, and ensures flight safety;

[0056] 2) The heading channel adopts the yaw angle rate maintenance control, removes the real-time heading constraint, effectively prevents the roll angle from increasing, and avoids the incoordination of the side and heading in the wind interference environment, which affects the stability margin of the control;

[0057] 3) The yaw rate command i...

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Abstract

The invention relates to a method for course transition of an unmanned helicopter course compensation. During the deflection process of the unmanned helicopter, the lateral channel adopts the lateral zero speed control, the course channel adopts the yaw angle rate control, and includes the course compensation amount The heading deviation generates a yaw rate command, and the course compensation amount is determined according to the real-time side deviation, the upper limit of the yaw rate rate corresponding to the current flight speed, and the heading compensation threshold, and then the yaw rate command and the roll angle command are obtained, so that when the helicopter is due to If the disturbance causes the turn to turn too fast, the course compensation mechanism will give a compensation effect of slowing down the turn. When the helicopter turns too slowly due to the disturbance, the course compensation mechanism will continue to give course compensation instructions, and the helicopter will continue to complete the turn until the aircraft The heading deviation and its side deviation meet the requirements. The heading is corrected by side deviation, so that the unmanned helicopter can accurately track the target route and realize the precise tracking control of the route.

Description

technical field [0001] The invention belongs to the technical field of unmanned helicopter control, and in particular relates to a method for unmanned helicopter heading compensation route transition. Background technique [0002] The unmanned helicopter with conventional aerodynamic layout has a low flying speed, and can complete flight tasks including route tracking and coordinated turning at a low speed. The lower the flight speed during coordinated turns, the weaker the static stability of the heading, and the weaker the ability to suppress wind disturbances. At present, domestic research on coordinated turning control of unmanned helicopters is still immature. Adopting a circular arc route tracking control method similar to that of a fixed wing will cause a large roll slope and sideslip, which will reduce the safety performance of the unmanned helicopter. Contents of the invention [0003] The main purpose of the present invention is to effectively improve the safet...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/102
Inventor 胡淼李卫星廖智麟
Owner CHINA HELICOPTER RES & DEV INST
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