Flight control method for electric multi-rotor light helicopter

Abstract

The invention belongs to the field of aviation, and discloses a flight control method for an electric multi-rotor light helicopter. According to the flight control of the electric multi-rotor helicopter, a flight dynamics model of the helicopter is established, and a height channel controller and an attitude controller are designed, so that the control of the electric multi-rotor light helicopter in a height channel direction, a course channel, a longitudinal channel and a transverse channel is realized; and various use requirements of trajectory tracking, fixed-point flight, anti-interference control, actuator fault and the like of the aircraft can be met. The anti-interference flight control capability and the fault-tolerant flight control capability of the electric multi-rotor light helicopter are improved. The flight control method of the electric multi-rotor light helicopter is high in anti-interference control capacity under the emergency conditions of basic wind, gust and the like, high in fault-tolerant control redundancy under the condition of single-rotor or double-rotor faults, and has the advantages of being high in effectiveness, high in stability and timely in feedback.

Description

Technical Field

[0001] This invention belongs to the field of aviation and discloses a flight control method for an electric multi-rotor light helicopter. Background Technology

[0002] Electric helicopters offer advantages such as vertical takeoff and landing, safety, low cost, low noise, and energy efficiency. However, during mission flight, electric multi-rotor helicopters are highly susceptible to various unknown external interferences or sudden system failures, making the design of the flight control model extremely important. It must not only accomplish the flight mission objectives but also ensure the safety of personnel and the helicopter. Therefore, researching anti-interference control for wind disturbances and fault-tolerant control for actuator failures is highly significant. This patent provides a highly safe and redundant flight control method for electric multi-rotor light helicopters. Summary of the Invention

[0003] This patent provides a flight control method for an electric multirotor light helicopter, which designs an altitude channel controller and an attitude controller to achieve control of the electric multirotor light helicopter in the altitude channel direction, heading channel, longitudinal channel and lateral channel.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a flight control method for an electric multi-rotor light helicopter, comprising determining the layout of the electric helicopter and establishing a flight dynamics model; establishing a control model and designing a controller; simulating and adjusting the controller parameters and simulating flight missions.

[0005] Furthermore, the flight principles of its vertical motion, pitch motion, roll motion, and yaw motion are analyzed; mathematical models of flight dynamics for the helicopter are established under fault-free and actuator fault conditions; and its position kinematic model, position dynamics model, attitude kinematic model, and attitude dynamics model are established.

[0006] Furthermore, the controller is designed to decouple the kinematic model, dividing the displacement and attitude control into four channels: height channel (vertical displacement), lateral channel (left and right displacement and roll), longitudinal channel (forward and backward displacement and pitch), and yaw channel.

[0007] Furthermore, the altitude channel (vertical displacement) and heading channel employ SMC controllers.

[0008] Furthermore, the lateral channels (left-right displacement and roll) and longitudinal channels (forward-backward displacement and pitch) employ cascaded PID controllers.

[0009] Furthermore, the controller parameters are adjusted using Simulink to determine the controller parameter values; displacement and attitude control simulations are implemented using the controller; and the reliability analysis of the controller under sudden interference and failure during flight is performed through simulation to verify the model's anti-interference and robustness.

[0010] In summary, the present invention has the following beneficial effects:

[0011] 1. The electric multi-rotor light helicopter of the present invention has low noise, low vibration, and is clean and pollution-free. The design method provided is highly versatile, practical and easy to implement.

[0012] 2. The electric multi-rotor light helicopter flight control method of the present invention has strong anti-interference control capability in the event of sudden conditions such as basic wind and gusts, and high fault-tolerant control redundancy in the event of single-rotor or dual-rotor failure. It has the characteristics of high effectiveness, strong stability and timely feedback. Attached Figure Description

[0013] Figure 1 Diagram of the "X-shaped" rotor layout for an electric six-coaxial rotor helicopter.

[0014] Figure 2 Simulink block diagram of the cascaded PID controller for the horizontal and vertical channels.

[0015] Figure 3 Simulink block diagram of the sliding membrane controller for the altitude and heading channels.

[0016] Figure 4 Schematic diagram of flight control model Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0018] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] This invention provides a flight controller design for a tiltrotor. In this embodiment, an electric six-coaxial rotor helicopter, such as... Figure 1 The diagram shows an "X-shaped" rotor configuration. After establishing the flight dynamics model, the analysis is as follows: The control variables for each rotor are u1, u2, u3, u4, u5, u6, u7, u8, u9, u... 10 u 11 u 12 With longitudinal channel control quantity u q Lateral channel control quantity u p Vertical channel control quantity u T, heading channel control quantity u r The relationship is:

[0020]

[0021] "+" and "-" indicate that the motor speed increases or decreases. The throttle travel range of the ESC is 1100 to 1940 microseconds. 1100 indicates that the minimum throttle travel of the ESC is 1100 microseconds.

[0022] Establish a cascaded PID controller for the lateral channel (left and right displacement and roll) and the longitudinal channel (forward and backward displacement and pitch), as shown in the diagram. Figure 2 .

[0023] Establish SMC controllers for altitude (vertical displacement) and heading channels, as shown in the diagram. Figure 3 .

[0024] The flight control model is designed by combining SMC controllers and cascade PID controllers, such as Figure 4 As shown.

[0025] The parameters of the PID-SMC combined control system are shown in Table 1 and Table 2:

[0026] Table 1 PID Controller Parameters

[0027] <![CDATA[k p ]]> <![CDATA[k i ]]> <![CDATA[k d <!-- 2 -->]]> Longitudinal channel position ring 100 0 2000 Longitudinal channel attitude loop 1 0 4 Lateral channel position ring 100 0 2000 Lateral channel attitude loop 1 0 4

[0028] Table 2 SMC Controller Parameters

[0029] a k Height Channel 0.12 1.2 heading channel 0.5 1.2

[0030] After obtaining the relevant parameter values ​​and the Simulink schematic diagram of the model, flight simulations can be performed, such as fixed-point flight, flight trajectory tracking, and waypoint flight control. Simulations of anti-interference flight control can also be completed, along with model reliability analysis, to verify the model's anti-interference and robustness.

Claims

1. A flight control method for an electric multi-rotor light helicopter, characterized in that, include: The layout of the electric helicopter was determined, and a flight dynamics model was established; a control model was established, and a controller was designed; the controller was simulated and its parameters were adjusted, and flight mission simulation was performed.

2. The flight control method for an electric multi-rotor light helicopter according to claim 1, characterized in that: The flight principles of its vertical motion, pitch motion, roll motion, and yaw motion are analyzed; mathematical models of flight dynamics are established for the helicopter under fault-free and actuator fault conditions; and its position kinematic model, position dynamics model, attitude kinematic model, and attitude dynamics model are established.

3. The flight control method for an electric multi-rotor light helicopter according to claim 1, characterized in that: The controller is designed to decouple the kinematic model and divide the displacement and attitude control into four channels: height channel (vertical displacement), lateral channel (left and right displacement and roll), longitudinal channel (forward and backward displacement and pitch), and yaw channel.

4. The flight control method for an electric multi-rotor light helicopter according to claim 3, characterized in that: The altitude channel (vertical displacement) and heading channel use an SMC controller.

5. The flight control method for an electric multi-rotor light helicopter according to claim 3, characterized in that: The lateral channel (left and right displacement and roll) and the longitudinal channel (forward and backward displacement and pitch) use a cascade PID controller.

6. The flight control method for an electric multi-rotor light helicopter according to claims 1-5, characterized in that: The parameters of the controller are adjusted and determined using Simulink. The controller is used to simulate displacement and attitude control. The reliability of the controller under sudden interference and failure during flight is analyzed to verify the model's anti-interference and robustness.

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