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介绍了上海交通大学“天行者”小型无人直升机自主飞行控制系统的设计及实现技术。首先引入了德国柏林工业大学基于牛顿力学建立的小型无人直升机动力学模型,然后基于此模型设计了直升机飞行姿态控制器。之后引入一种针对二次积分模型基于期望响应轨迹设计控制器的控制算法,文中简称为MTC,设计实现了直升机飞行位置的不超调控制和飞行速度控制。实际飞行控制试验结果验证了飞行控制算法的有效性。仿真试验表明,基于MTC算法所设计的飞行导引点方法,可用于实现多航点路径的不减速连续曲线轨迹的飞行控制。
The design and realization technology of autonomous flight control system of “Skywalker” small unmanned helicopter in Shanghai Jiao Tong University are introduced. First of all, a small unmanned helicopter dynamics model based on Newtonian mechanics was introduced at the Technical University of Berlin, Germany. Based on this model, a helicopter flight attitude controller was designed. Then a control algorithm based on expected response trajectory design controller for quadratic integral model is introduced, which is referred to as MTC in short, and the non-overshooting control and flight speed control of helicopter flight position are designed and realized. The actual flight control test results verify the effectiveness of the flight control algorithm. Simulation results show that the flight guidance point method based on MTC algorithm can be used to realize the flight control of non-decelerating continuous curve trajectory of multi-way point route.