CN100511061C

CN100511061C - Control method for guarding against the swing like the pendulum of unmanned helicopter in type of no control rotor

Info

Publication number: CN100511061C
Application number: CNB2007100252943A
Authority: CN
Inventors: 王道波; 盛守照
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2007-07-20
Filing date: 2007-07-20
Publication date: 2009-07-08
Anticipated expiration: 2027-07-20
Also published as: CN101093398A

Abstract

The invention relates to an anti-pendulum control method of a tail-rotor-type unmanned helicopter, which belongs to the anti-pendulum control method of a helicopter. The control method includes using the pitch angle rate and the roll angle rate to form a first closed-loop control inner loop through pitch stabilization control and roll stabilization control respectively; using the pitch angle and roll angle to form a pitch controller and a roll controller respectively The second closed-loop control inner loop; it is characterized in that it also includes an acceleration closed-loop control loop formed by utilizing longitudinal acceleration and lateral acceleration through longitudinal speed stabilization control and lateral speed stabilization control respectively; using longitudinal speed and lateral speed through longitudinal speed regulator and The speed closed-loop control loop formed by the lateral speed regulator. This method can prevent the unmanned helicopter from forming the pendulum condition, avoid the occurrence of the pendulum phenomenon of the unmanned aerial vehicle, and when the pendulum trend occurs, the unmanned helicopter can move quickly in a small area, so that it can break away from the pendulum condition, and achieve the purpose of suppressing the pendulum. The purpose of the paddle type unmanned helicopter pendulum.

Description

The anti-pendulum control method of No Tail Rotor type depopulated helicopter

Technical field

The present invention relates to a kind of anti-pendulum control method of No Tail Rotor type depopulated helicopter, can make this novel depopulated helicopter when hovering, not enter the pendulum state.

Background technology

Pendulum phenomenon is the stiff end of an object around himself, and the swing that do within the specific limits clocklike, goes round and begins again is characterized in that an end fixes, and the other end can free movement, and in the ideal case, pivot angle presents cyclical variation.Because No Tail Rotor type depopulated helicopter has the condition of bringing out pendulum in configuration, its swing is two-dimentional, promptly has vertically and the side direction both direction; Pendulum length is uncertain, but bounded, when aircraft when carrying out aerial mission, variation along with oil mass in the machine, the center of gravity of aircraft also has the equipment installation to wait other uncertain factor also to influence the position and the symmetry of center of gravity along with variation, and pendulum length can change thereupon; In addition, the point of fixity that centered on of swing is because of being subjected to and the incoherent external force effect of pendulum self, and on the plane or the space passive movement, the influence that this motion is not swung still can influence swing.This No Tail Rotor type depopulated helicopter adopts conventional depopulated helicopter control method can produce vertically and the sideshake phenomenon flight safety that jeopardizes depopulated helicopter because of the interference such as fitful wind of outside when hovering.

Summary of the invention

No Tail Rotor type depopulated helicopter is because its specific configuration can produce pendulum phenomenon under certain conditions, and this phenomenon can cause the depopulated helicopter continuous oscillation, seriously can vibrate and disperse, and causes aircraft accident.The invention provides a kind of anti-pendulum control method of No Tail Rotor type depopulated helicopter, be used to prevent and suppress the pendulum vibration of this kind of depopulated helicopter.

The technical solution adopted for the present invention to solve the technical problems is: on the basis of the two close loop control circuits of conventional depopulated helicopter attitude, set up speed closed loop control and linear acceleration closed-loop control, adopt this anti-pendulum control law to make depopulated helicopter not constitute the condition that forms pendulum, to avoid the generation of pendulum phenomenon, and when pendulum trend occurring, can make depopulated helicopter fast moving among a small circle, make it break away from the pendulum condition, reach the purpose that suppresses the depopulated helicopter pendulum.Concrete control method is to utilize the angle of pitch speed of the angular rate gyroscope output in the helicopter and roll angle speed to constitute the first closed-loop control inner looping as interior closed loop inner looping through pitch-axis stability augmentation control and roll-axis stability augmentation control respectively, improves the stability of helicopter attitude control; Utilize the angle of pitch and the roll angle of the attitude gyro output of helicopter to constitute the second closed-loop control inner looping as interior closed loop external loop through pitch control subsystem device and lift-over controller respectively, realize attitude control helicopter; On this basis, utilize longitudinal acceleration that accelerometer output information obtains and transverse acceleration to increase steady control and transverse velocity through longitudinal velocity respectively and increase the 3rd close loop control circuit that steady control constitutes as ring inner looping in peripheral, the stability of raising helicopter speed control; Utilize the 4th close loop control circuit that the longitudinal velocity of information acquisition of GPS output and transverse velocity constitute through longitudinal velocity regulator and transverse velocity regulator as peripheral closed loop external loop, realize suppressing in advance the control that pivot angle departs from.After adopting this control method, No Tail Rotor type depopulated helicopter can be in floating state safely, and the disturbance or other external force that no matter whether are subjected to fitful wind this moment are disturbed.

Description of drawings

Fig. 1 is the anti-pendulum process of No Tail Rotor type depopulated helicopter under external interference.

Fig. 2 is the anti-pendulum process of No Tail Rotor type depopulated helicopter under 1 meter task of reach.

Fig. 3 is the anti-pendulum control method schematic diagram of No Tail Rotor type depopulated helicopter.

Embodiment

Below in conjunction with accompanying drawing the present invention being controlled effect describes:

(1) be subjected to the external force effect when body, as after being subjected to the interference of wind, under action of gravity, this No Tail Rotor type depopulated helicopter will produce near the swing the equilibrium position.Under the control of designed control law, its effect is a depopulated helicopter fast moving among a small circle, makes helicopter reach equilibrium state at short notice, its vertical response as shown in Figure 1, transverse response is with the vertical response unanimity.

(2) suspension point when body is subjected to the external force effect, as requires 1 meter of helicopter lengthwise movement, and being equivalent to the body center of gravity has a reverse inertial force, because body is subjected to external force, so form the swing condition.Under the control of designed control law, can accomplish the phenomenon that suppresses to swing, can allow the aircraft fixing distance of flying forward again, this in fact control effect at first is to allow suspension point to oppositely moving, forward moves then, as shown in Figure 2, the time of body swing this moment is the shortest, and transverse response is with the vertical response unanimity.

Designed control method as shown in Figure 3, wherein, the two close loop control circuits of conventional depopulated helicopter attitude have been adopted in pitching and roll attitude control, shown in frame of broken lines inside among Fig. 3, utilize the angle of pitch speed of angular rate gyroscope output and the inner looping of roll angle speed formation to play the effect that improves the attitude control stiffness, proportional controller is adopted in pitching and roll-axis stability augmentation control; Utilize the angle of pitch of attitude gyro output and external loop that roll angle constitutes to play the effect of attitude control as the major loop of attitude control, pi controller is adopted in pitching and roll attitude control.Anti-pendulum is controlled on the basis of conventional depopulated helicopter attitude control has increased the peripheral pair close loop control circuits of being made up of speed and acceleration again, shown in frame of broken lines outside among Fig. 3, utilize the depopulated helicopter longitudinal acceleration of accelerometer output information acquisition and the inner looping of transverse acceleration formation to play the effect that improves speed control stability, vertical and horizontal speed increases steady control and adopts proportional controller; Utilize external loop that depopulated helicopter longitudinal velocity that GPS output information obtains and transverse velocity constitute to play as the major loop of anti-pendulum control and suppress the effect that pivot angle departs from advance, the vertical and horizontal speed regulator adopts proportional controller.Peripheral two close loop control circuit structures of utilizing this anti-pendulum control to be constituted make this kind of depopulated helicopter can both reach effective inhibition pendulum phenomenon for external interference or external force effect, and flight stably.

Claims

1. An anti-pendulum control method of a tailless rotor type unmanned helicopter, comprising utilizing the pitch rate and the roll rate output by the angular rate gyroscope in the helicopter to form the first closed loop through pitch stabilization control and roll stabilization control respectively The control inner loop is used as the inner closed-loop inner loop to realize the control of the attitude stability of the helicopter; the pitch angle and roll angle output by the attitude gyroscope of the helicopter are used to form the second closed-loop control inner loop through the pitch controller and the roll controller respectively as the outer loop of the inner closed loop. The loop realizes the attitude control of the helicopter; it is characterized in that it also includes a speed closed-loop control and an acceleration closed-loop control, and the acceleration closed-loop control is to use the longitudinal acceleration and the lateral acceleration obtained by the output information of the accelerometer through the longitudinal speed stabilization control and the lateral acceleration respectively. The third closed-loop control loop formed by the speed stabilization control is used as a peripheral closed-loop inner loop to improve the stability of the speed control of the helicopter. The speed closed-loop control loop is obtained by using the information output by the GPS. The fourth closed-loop control loop formed with the lateral speed regulator is used as the peripheral closed-loop outer loop to realize the control of suppressing the deviation of the swing angle in advance.