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自转式旋翼机的旋翼是一种无动力升力装置,旋翼需来流吹动旋转而获得升力,因此自转旋翼机大多采用滑跑方式起飞.由于自转旋翼机具有特殊的气动特性和操纵特点,基于姿态控制的滑跑起飞策略不能直接用于无人自转旋翼机的起飞控制.本文针对无人自转旋翼机所特有的旋翼桨盘迎角、地速和气动升力之间相互约束和制约的特点,在分析无人自转旋翼起飞阶段动力学特性的基础上,提出了一种基于在线滚动优化理论的无人自转旋翼机起飞控制方法.通过预测未来有限时间内无人自转旋翼机的运动状态,得到起飞过程的最优控制序列,能够维持无人自转旋翼机在起飞过程中始终具有足够的升力和合适的爬升角.通过仿真验证和分析,证明了本文所提出的控制算法能够实现无人自转旋翼机的平稳起飞.
Rotorcraft rotor is a non-powered lift device, the rotor needs to flow to spin and get lift, so most of the rotary rotorcraft take off by sliding mode.As the rotor has special aerodynamic characteristics and manipulation characteristics, based on Gesture-controlled roll-off strategy can not be used directly for take-off control of unmanned self-rotating rotorcraft.Based on the characteristics of unmanned self-rotating rotorcraft rotor angle of attack, ground speed and aerodynamic lift constraints and constraints of each other, Based on the analysis of the dynamic characteristics of unmanned rotor take-off phase, a method of take-off control of unmanned rotary rotor based on on-line rolling optimization theory is proposed. By predicting the motion state of unmanned autorotation rotorcraft in a limited time in the future, The optimal control sequence of take-off process can maintain unmanned rotorcraft with enough lift and proper angle of climb during take-off.According to simulation and analysis, it is proved that the proposed control algorithm can realize unmanned rotor The plane took off smoothly.