A longitudinal swing amplitude control method for unmanned helicopter airdrop suspension
A technology of unmanned helicopters and swing amplitude, which is applied in non-electric variable control, vehicle position/route/height control, attitude control, etc., and can solve problems such as difficult to achieve precise and quantitative control
Active Publication Date: 2020-11-17
BEIHANG UNIV
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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
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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 by 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...
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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 method for controlling the longitudinal swing amplitude of an unmanned helicopter airdropped and hung. Background technique [0002] Helicopters have been a hot topic of research because of their ability to take off and land vertically and carry heavy cargo. The helicopter suspension system has attracted people's attention since the 1960s because of its successful use in the Vietnam War. The additional transportation method of hanging makes the application scenarios of helicopters more extensive. In aspects such as rescue, monitoring, aerial geophysical exploration, and transportation of war materials, helicopters are used in hanging. [0003] When the helicopter performs the airdrop hanging task, especially when the airdrop is heavy compared to the helicopter itself, the helicopter will inevitably swing in the height direction...
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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 王薇孙梦超钱瑞
Owner BEIHANG UNIV