CN106873617A - A kind of depopulated helicopter autorotative glide control method - Google Patents
A kind of depopulated helicopter autorotative glide control method Download PDFInfo
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- CN106873617A CN106873617A CN201510924980.9A CN201510924980A CN106873617A CN 106873617 A CN106873617 A CN 106873617A CN 201510924980 A CN201510924980 A CN 201510924980A CN 106873617 A CN106873617 A CN 106873617A
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- depopulated helicopter
- helicopter
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- control method
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
Abstract
The present invention relates to a kind of depopulated helicopter autorotative glide control method.The present invention includes：To under certain depopulated helicopter power failure and tail-rotor failure condition, the design of autorotative glide flight profile, mission profile, Flight Control Law are designed and simulating, verifying.The Realization of Simulation of the present invention controls depopulated helicopter safe landing under the conditions of the power failure and tail-rotor failure of removal.The method designs the flight profile, mission profile under power failure state by analyzing the autorotational flight characteristic of depopulated helicopter, generates movement instruction.Using classical control method, the characteristic for autorotational flight is controlled rule tune ginseng, realizes the accurate tracking to movement instruction.The method is tested under simulated environment, is verified, landing state has been reached safety requirements, it was demonstrated that the validity of the control method.
Description
Technical field
The present invention relates to a kind of depopulated helicopter autorotative glide control method, belong to flight control skill
Art field.
Background technology
The autorotative glide flight of helicopter, refers to when helicopter awing occurs in that engine loses
Emergency manoeuvre helicopter after effect or the failure of tail-rotor failure, make full use of kinetic energy and gravitional force it
Between conversion, make helicopter stabilization enter autorotative glide state, finally realize the mistake of safe landing
Journey.Rotation performance is an important indicator of helicopter design, and especially single-shot helicopter is come
Say, the quality of rotation performance seems even more important.
Several autorotative glide flights risen and fallen only were done in certain type manned versions of helicopter in the country
Experiment, the research country to depopulated helicopter autorotative glide has no report.
The content of the invention
Present invention solves the technical problem that being：A kind of depopulated helicopter autorotative glide controlling party is provided
Method, under the conditions of the semi-physical simulation of ground, simulates depopulated helicopter power failure or tail
The malfunction of oar failure, automatically controls depopulated helicopter and completes autorotative glide flight, and safely
Land.
The technical scheme that the present invention takes is：
A kind of depopulated helicopter autorotative glide control method, including：
The autorotative glide under depopulated helicopter power failure and tail-rotor failure condition, when nobody is straight
When the machine of liter is highly more than 25 meters, depopulated helicopter forward speed=27m/s is kept；It is vertical to decline
Speed=8m/s；
When depopulated helicopter is highly more than 10 meters and during less than or equal to 25 meters, to depopulated helicopter
Carry out evening up deceleration, reduce forward speed and vertical speed；
When depopulated helicopter is highly less than 10 meters, the angle of pitch is leveled off to hovering attitude；Carry total
Away from touchdown speed is reduced, rate of descent controls to complete to land within 3m/s.
Another depopulated helicopter autorotative glide control method, including：
The autorotative glide under depopulated helicopter tail-rotor failure condition, stabilization helicopter attitude, works as nothing
When people's helicopter is highly more than 75 meters, depopulated helicopter rate of descent=8m/s is kept；
When depopulated helicopter is highly more than 25 meters, depopulated helicopter rate of descent is kept
=4m/s；
When depopulated helicopter is highly less than or equal to 25 meters, depopulated helicopter is kept vertically to decline
Speed=1m/s, completes to land.
The present invention has beneficial effect：The present invention is a kind of depopulated helicopter autorotative glide controlling party
Method, the method can automatically control nothing under the malfunction that power failure or tail-rotor fail
People's helicopter completes autorotative glide and safe landing, in case of emergency ensures flight safety.This
Invention has been applied to the ground semi physical experimental study of certain depopulated helicopter, reaches under test conditions
To safe landing requirement.
Brief description of the drawings
Fig. 1 is the schematic diagram of the autorotative glide flight profile, mission profile of design in the present invention.
Fig. 2 is the curve that the present invention carries out autorotative glide l-G simulation test checking during power failure.
Fig. 3 is the curve that the present invention carries out autorotative glide l-G simulation test checking when tail-rotor fails.
Specific embodiment
Specific embodiment of the invention is described further with reference to Figure of description.
A kind of depopulated helicopter autorotative glide control method, including：
The autorotative glide under depopulated helicopter power failure and tail-rotor failure condition, when nobody is straight
When the machine of liter is highly more than 25 meters, depopulated helicopter forward speed=27m/s is kept；It is vertical to decline
Speed=8m/s；
When depopulated helicopter is highly more than 10 meters and during less than or equal to 25 meters, to depopulated helicopter
Carry out evening up deceleration, reduce forward speed and vertical speed；
When depopulated helicopter is highly less than 10 meters, the angle of pitch is leveled off to hovering attitude；Carry total
Away from touchdown speed is reduced, rate of descent controls to complete to land within 3m/s.
Another depopulated helicopter autorotative glide control method, including：
The autorotative glide under depopulated helicopter tail-rotor failure condition, stabilization helicopter attitude, works as nothing
When people's helicopter is highly more than 75 meters, depopulated helicopter rate of descent=8m/s is kept；
When depopulated helicopter is highly more than 25 meters, depopulated helicopter rate of descent is kept
=4m/s；
When depopulated helicopter is highly less than or equal to 25 meters, depopulated helicopter is kept vertically to decline
Speed=1m/s, completes to land.
Embodiment
1. the autorotative glide control method of power failure
Flight profile, mission profile such as Fig. 1 of autorotative glide is designed, the overview of autorotative glide flight course is shown in Table
1。
The autorotative glide mission phase of table 1
Emulation data and curves such as Fig. 2 of autorotative glide during power failure.
1.1. rotation section is stablized
The relation of forward flight speed and rate of descent during analysis autorotative glide.Its basic law is：Maintain
Certain forward flight speed can make rate of descent reach minimum, and excessive or too small forward flight speed all can
Increase rate of descent.During final determination stabilization autorotational flight, forward flight speed and rate of descent are instructed.
When therefore, into autorotative glide, first fast prompt drop is always away to minimum, while input is vertical fast
Degree keeps mode and air speed to give and keeps mode, and vertical speed and sky are given by said instruction
Speed.Helicopter flies and declines before remaining a constant speed, and rotor rotating speed slowly declines.Because fast prompt drop is total
Enter the change of characteristic after autorotative glide away from the disturbance for causing, and helicopter, to longitudinal direction and horizontal stroke
Suitably reduce to the proportional control gain of gesture stability.
1.2. braking section is evened up
Apart from ground 25m or so, carry always away from and post-tensioning cycle bar, reduce rate of descent and it is preceding fly
Speed.Give to realize evening up the motor-driven of deceleration by speed remote regulating and vertical speed.Even up and subtract
The height of speed makes the appropriate adjustments according to helicopter mathematical model characteristic.
Vertical speed control is completed in two stages.Highly it is more than given -4m/s during 11m vertically fast
Degree, gives 0m/s vertical speed when highly less than 11m.For the control of forward speed,
Highly it is more than given 0m/s forward speeds during 6m.It is big in moderating process is evened up in order to adapt to
Mobile operation is, it is necessary to amplify the control authority of each axle.
1.3. land
Be reduced to close to 0 for vertical speed and forward flight speed in 8-10m height by helicopter.In order to
Quick deceleration, the angle of pitch can increase to 25 degree or so.Control to bow during continuing to fall
The elevation angle quickly reduces, and in ground connection, attitude is also recovered near 0 degree, and rate of descent is controlled in 3m/s
Within complete land.
2. the autorotative glide control method that tail-rotor fails
Fig. 3 is the curve that the present invention carries out autorotative glide l-G simulation test checking when tail-rotor fails.Tail
Need to close or disengage engine power when oar fails, perform the operation that similar rotation glides.Enter
After entering tail-rotor failure, class Sixian is by always away from being preferably minimized during with power failure.Due to helicopter
The change of characteristic is being carried always during, it is necessary to increase longitudinal and transverse axis scale, differential term gain
Need further to increase control gain.
Because helicopter course is uncontrollable, control forward flight speed can cause helicopter more unstable.
Therefore, vertical and horizontal control keeps mode, stabilization helicopter attitude only with attitude.Always away from
Axle input vertical speed control mode, gives -8m/s vertical speed when highly more than 75m,
Highly it is more than given -4m/s vertical speed during 25m, -1m/s is given when highly less than 25m
Vertical speed.
Failed into tail-rotor and dropped away from rear, helicopter course slowly swings, and forward flight speed slowly subtracts
It is small.Carry and always start constantly revolution away from rear course, mode stabilization vertical, horizontal attitude is kept by attitude
Angle.It is final to realize being landed with less attitude angle and vertical speed.
Claims (2)
1. a kind of depopulated helicopter autorotative glide control method, it is characterised in that including：
The autorotative glide under the conditions of depopulated helicopter power failure, when depopulated helicopter height is big
When 25 meters, depopulated helicopter forward speed=27m/s is kept；Rate of descent=8m/s；
When depopulated helicopter is highly more than 10 meters and during less than or equal to 25 meters, to depopulated helicopter
Carry out evening up deceleration, reduce forward speed and vertical speed；
When depopulated helicopter is highly less than 10 meters, the angle of pitch is leveled off to hovering attitude；Carry total
Away from touchdown speed is reduced, rate of descent controls to complete to land within 3m/s.
2. a kind of depopulated helicopter autorotative glide control method, it is characterised in that including：
The autorotative glide under depopulated helicopter tail-rotor failure condition, stabilization helicopter attitude, works as nothing
When people's helicopter is highly more than 75 meters, depopulated helicopter rate of descent=8m/s is kept；
When depopulated helicopter is highly more than 25 meters, depopulated helicopter rate of descent is kept
=4m/s；
When depopulated helicopter is highly less than or equal to 25 meters, depopulated helicopter rate of descent is kept
=1m/s, completes to land.
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|---|---|---|---|
| CN201510924980.9A CN106873617A (en) | 2015-12-11 | 2015-12-11 | A kind of depopulated helicopter autorotative glide control method |
Applications Claiming Priority (1)
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|---|---|---|---|
| CN201510924980.9A CN106873617A (en) | 2015-12-11 | 2015-12-11 | A kind of depopulated helicopter autorotative glide control method |
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| CN106873617A true CN106873617A (en) | 2017-06-20 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108241377A (en) * | 2017-12-08 | 2018-07-03 | 中国航空工业集团公司成都飞机设计研究所 | A kind of unmanned plane automatic height based on voyage endurance performance delays drop control method |
| CN108319284A (en) * | 2017-12-29 | 2018-07-24 | 北京航空航天大学 | A kind of unmanned plane downslide section trajectory design method suitable for obstacle environment |
| CN109085849A (en) * | 2018-08-28 | 2018-12-25 | 成都飞机工业（集团）有限责任公司 | A kind of autonomous control method of Shipborne UAV accuracy |
| CN109143854A (en) * | 2018-07-27 | 2019-01-04 | 南京航空航天大学 | It is a kind of solve helicopter tail rotor clamping stagnation after safe landing procedures numerical value emulation method |
| CN110262558A (en) * | 2019-07-18 | 2019-09-20 | 成都飞机工业（集团）有限责任公司 | A kind of control method of unmanned plane accuracy |
| CN110502030A (en) * | 2019-07-22 | 2019-11-26 | 北京中航智科技有限公司 | A kind of unmanned helicopter after landing method and landing gear |
| CN112180980A (en) * | 2020-10-16 | 2021-01-05 | 中国直升机设计研究所 | Autorotation landing control method of unmanned helicopter |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108241377A (en) * | 2017-12-08 | 2018-07-03 | 中国航空工业集团公司成都飞机设计研究所 | A kind of unmanned plane automatic height based on voyage endurance performance delays drop control method |
| CN108241377B (en) * | 2017-12-08 | 2020-12-29 | 中国航空工业集团公司成都飞机设计研究所 | Automatic height slow descending control method of unmanned aerial vehicle based on voyage and time performance |
| CN108319284A (en) * | 2017-12-29 | 2018-07-24 | 北京航空航天大学 | A kind of unmanned plane downslide section trajectory design method suitable for obstacle environment |
| CN108319284B (en) * | 2017-12-29 | 2022-01-14 | 北京航空航天大学 | Unmanned aerial vehicle gliding section track design method suitable for obstacle environment |
| CN109143854A (en) * | 2018-07-27 | 2019-01-04 | 南京航空航天大学 | It is a kind of solve helicopter tail rotor clamping stagnation after safe landing procedures numerical value emulation method |
| CN109085849A (en) * | 2018-08-28 | 2018-12-25 | 成都飞机工业（集团）有限责任公司 | A kind of autonomous control method of Shipborne UAV accuracy |
| CN109085849B (en) * | 2018-08-28 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Autonomous control method for fixed-point landing of carrier-borne unmanned aerial vehicle |
| CN110262558A (en) * | 2019-07-18 | 2019-09-20 | 成都飞机工业（集团）有限责任公司 | A kind of control method of unmanned plane accuracy |
| CN110502030A (en) * | 2019-07-22 | 2019-11-26 | 北京中航智科技有限公司 | A kind of unmanned helicopter after landing method and landing gear |
| CN112180980A (en) * | 2020-10-16 | 2021-01-05 | 中国直升机设计研究所 | Autorotation landing control method of unmanned helicopter |
| CN112180980B (en) * | 2020-10-16 | 2022-10-28 | 中国直升机设计研究所 | Autorotation landing control method of unmanned helicopter |
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Application publication date: 20170620 |