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针对轴对称构型的无人直升机,在速度控制回路的基础上,提出了一种能够保证飞行过程中航向恒定的全向控制方法。通过分析无人直升机的特征值分布、状态响应和操纵响应特性,得到无人直升机在对称轴的法平面内具有各向一致性,具备实现全向控制的条件。提出了将给定速度在对称轴法平面内进行分解,并考虑侧偏修正的全向控制规律。仿真试验表明,全向控制能够精确地跟踪给定航迹,保持飞行过程中的航向恒定,在不转动机体的情况下,实现向各个方向的飞行。方法也可推广到其他类似的轴对称飞行器。
For the unmanned helicopter with axisymmetric configuration, an omni-directional control method which can ensure the constant heading during flight is proposed based on the speed control loop. By analyzing the eigenvalue distribution, the state response and the manipulative response of the unmanned helicopter, the unmanned helicopter has the same direction uniformity in the normal plane of the symmetry axis and has the condition of omnidirectional control. A method of decomposing the given velocity in the plane of symmetry axis method and considering the omnidirectional control law of the lateral offset correction is proposed. Simulation results show that the omni-directional control can accurately track a given track and keep the heading constant during the flight, achieving flight in all directions without turning the fuselage. The method can also be extended to other similar axisymmetric aircraft.