【作者】 张剑；

【导师】 黄一敏；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2009， 硕士

【摘要】 无人直升机因其独特的飞行特点而具有重要的军事和民用价值,又由于其自身的特殊构造,使无人直升机的建模与控制技术非常复杂,本文正是在这种背景下,进行无人直升机建模与控制技术的研究。首先,建立了基于“圆盘理论”的无人直升机数学模型,建模时综合考虑了直升机各主要气动部件的建模,详细讨论了主旋翼的气动力模型、诱导速度模型和挥舞运动模型,整个仿真模型最终在S-Function平台上得到了实现。最后采用样例直升机数据,把“圆盘理论”模型和Flightlab模型进行对比,结果证明了“圆盘理论”建模方法的合理性和有效性。根据建模的目的和用途,把在Matlab环境下的数学模型转化为可用于“等效飞控”仿真或半物理实时仿真的C语言版本模型。其次,介绍了无人直升机飞行控制律的设计工作,利用所建的非线性数学模型,经过配平线性化,得到悬停状态下的线性模型。根据直升机稳定性和耦合性的分析结果,对无人直升机的飞行控制策略、控制规律进行了研究,实现了无人直升机增稳、姿态、位置等飞行控制律。由于工程应用中,对姿态的控制达不到预期的精度,常规的位置控制律不能满足要求,因此提出了改进方案,圆满的解决了内回路控制不准的问题。最后,根据“等效飞控”的思想,完成了RTOS32在Windows环境下的移植,实现了控制律代码在目标机环境和“等效飞控”环境下的完全一致。设计了“等效飞控”控制台软件等相关软件。并把“等效飞控”仿真和半物理实时仿真结果进行了对比,可以看出“等效飞控”设计环境可以应用于工程项目的开发,能够验证控制律的正确性。然后利用“等效飞控”环境,验证了悬停、回转、前飞、两点航线等飞行模态。更多还原

【Abstract】 Unmanned Helicopter has good perspective of applications in military and civilian domain because of its unique flight property. And modeling and control techniques of unmanned helicopter are extremely complex also because of its own special structure, so the dissertation study modeling and control technology of helicopter under the station.Firstly, a mathematical model for helicopter was developed based on mumentum theory. In the process of modeling, the primary aerodynamic components of helicopter were considered comprehensively. Main rotor is the key part of helicopter modeling, and the associated modeling methods of aerofoil aerodynamic loads, induced velocity and blade flap motion were discussed in detail. The whole model was performed in S-Function. Finally, the response analysis was carried out with the example helicopter’s data. The simulation results validate the rationality and validity of modeling theories and methods. According to the purpose and use of modeling, the model in the Matlab environment was converted into a mathematical model of the C language version which can be used for "equivalent flight control" or semi-physical simulation.Secondly, trimmed and linearized the non-linear mathematical model, then a linear model on hover could be gainned. According to the results of helicopter stability and coupling, flight control strategy, control laws, control loops were studied.And realized Stability augmentation, posture, location control law and a variety of flight mode. Because of the posture control without achieving the desired accuracy in engineering applications, the conventional position control law can not meet the requirement. A improved strategy was proposed, it solved the problem satisfactorily.Finally, According to the "equivalent flight control" idea, this paper completed the transplant of RTOS32 in the Windows environment, and ensured that the control law code in the target machine environment and the "equivalent flight control" environment was fully consistent.Designed of the "equivalent flight control" Control Desk and other related software. All the working above have been verified by the semi-physical simulation and the result showed that the design of "equivalent flight control" based on RTOS32 was conscientiously feasible in project. And the use of "equivalent flight control", the hovering mode, circling mode and flying forward mode was verified .更多还原