Longitudinal oscillation amplitude control method for air-drop suspension of unmanned helicopter
An unmanned helicopter, swing amplitude technology, applied in non-electric variable control, vehicle position/route/altitude control, attitude control and other directions, can solve problems such as difficult to achieve precise and quantitative control
Active Publication Date: 2020-01-31
BEIHANG UNIV
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AI Technical Summary
Problems solved by technology
[0006] The purpose of the present invention is to solve the problem of precise control of the swing amplitude in the height direction of the helicopter after airdropping. The traditional control method can only make the helicopter stabilize to a certain height as soon as possible after the airdrop. However, it is difficult to avoid the longitudinal swing in the process of controlling the stability of the helicopter. , and for the swing amplitude of the helicopter during stabilization, it is difficult to achieve precise and quantitative control
Method used
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Embodiment 1
[0077] Using MATLAB software, the established unmanned helicopter model and the designed adaptive controller were simulated. The hanging mass of the selected unmanned helicopter airdrop accounts for 10% of the total mass of the helicopter hanging system. The specific simulation parameters are shown in Table 1:
[0078] Table 1 Simulation parameters
[0079]
[0080] In order to compare the control effects, the simulation of the control scheme designed by the present invention and the PD control is carried out using the same control coefficient, and the simulation results are as follows Figure 3-Figure 5 shown. image 3 (a) and (b) are control input comparisons, Figure 4 (a) and (b) are height tracking error comparisons, the left side is the control scheme of the present invention, and the right side is the PD control scheme. Figure 5 is an estimate of the unknown parameters of the handover. It can be seen from the simulation results that the expected bounded error tr...
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The invention discloses a longitudinal oscillation amplitude control method for air-drop suspension of an unmanned helicopter. The longitudinal oscillation amplitude control method comprises self-adaptive estimation of unknown parameters before and after air-drop and controlling over the oscillation amplitude of the unmanned helicopter after air-drop suspension based on a BLF method. According tothe invention, accurate oscillation amplitude controlling in a height direction can be realized under the condition of generating mass mutation after airdrop of the helicopter, so that the safety of air-drop operation of the unmanned helicopter is improved and the possibility is provided for air-drop of the unmanned helicopter in low altitude and complex environments. Meanwhile, a feasible controlscheme is provided for other control system application scenarios with parameter mutation. The accurate quantitative control over the oscillation amplitude in the stabilizing process is realized; andthe method has advantages that parameters are accurately estimated, and the longitudinal oscillation amplitude is well controlled.
Description
technical field [0001] The invention belongs to the technical field of automatic control of unmanned aerial vehicles, and in particular relates to a longitudinal swing amplitude control method of an unmanned helicopter airdrop suspension. Background technique [0002] Helicopter has always been a research hotspot because of its vertical take-off and landing and its ability to carry heavy cargo. The helicopter suspension system has attracted attention since the 1960s due to its successful use in the Vietnam War. In addition, the transportation method of hoisting makes the application scenarios of helicopters more extensive. Helicopter hoisting is used in areas such as rescue, monitoring, aerial geophysical exploration, and transportation of war materials. [0003] When a helicopter performs an airdrop hoisting task, especially when a hoisting load with a large mass relative to the helicopter itself is dropped, the helicopter will inevitably swing in the height direction due ...
Claims
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Patent Timeline
Login to View More IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 王薇孙梦超钱瑞
Owner BEIHANG UNIV