摘要
针对某型无人直升机无铰式旋翼技术验证和飞行试验需求,建立了能够用于实时仿真的非线性飞行动力学模型,并基于经典PID控制算法完成了飞行控制律设计。为验证理论模型准确性和控制参数合理性,相继开展了盘旋飞行和大速度飞行的半物理仿真和飞行试验,并基于飞行试验控制效果评估完成了部分控制参数的优化设计。数据分析表明:半物理仿真和飞行试验的时域响应和配平特性均吻合较好,验证了非线性飞行动力学模型的准确性;飞行试验中无人直升机姿态和速度响应均能够较好地跟踪其设定值,所设计的飞行控制参数能够满足某型无人直升机稳态飞行控制要求。
According to the needs of hingeless rotor technique validation and flight test of an unmanned helicopter,the nonlinear flight dynamics model suitable for real-time simulation was established,and the flight control law was designed based on PID control algorithm.In order to validate the accuracy of theory model and the rationality of control parameters,both hardware-in-loop simulation and flight test were conducted,including circle flight and high speed flight,and some control parameters optimization was conducted based on the evaluation of flight test results.It is shown that the simulation results agree well with flight test data in both time response and trim value,the accuracy of nonlinear flight dynamics model is validated,and both attitude and flight speed are controlled well during flight test.It is proved that the designed control parameters could meet the needs for steady flight of an unmanned helicopter.
作者
王超
黄兵旺
贾伟力
WANG Chao;HUANG Bingwang;JIA Weili(Department of Helicopter Technology,Nanjing Research Institute on Simulation Technique,Nanjing 210016,China)
出处
《飞行力学》
CSCD
北大核心
2020年第2期71-76,共6页
Flight Dynamics
关键词
无人直升机
飞行动力学
无铰式旋翼
半物理仿真
飞行试验
unmanned helicopter
flight dynamics
hingeless rotor
hardware-in-loop simulation
flight test
