复合式高速无人直升机飞行动力学建模与控制策略设计
收稿日期: 2023-11-08
修回日期: 2023-11-20
录用日期: 2024-02-27
网络出版日期: 2024-03-13
基金资助
省部级项目
Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters
Received date: 2023-11-08
Revised date: 2023-11-20
Accepted date: 2024-02-27
Online published: 2024-03-13
Supported by
Provincial and Ministerial Project
复合式高速无人直升机主要具有旋翼、机翼、螺旋桨、机身和平/垂尾等气动部件。各个部件之间的气动干扰复杂且会随前飞速度强烈、快速地变化，必须根据前飞速度修正飞行动力学模型参数，以获得较高的模型置信度；同时，必须根据前飞速度调整飞行控制策略，动态实现整个速度包线稳定可控飞行。为此，建立了复合式高速无人直升机飞行动力学机理模型，利用全机组合风洞配平试验数据进行了模型修正，有效提高了数学模型置信度；在配平点处，将非线性动力学模型线性化，获得了开环本体动力学特性随前飞速度的演化规律，并评估了控制增稳系统对闭环操稳性能的改善效果；在经典控制架构基础上，针对复合式高速无人直升机的升力、推力和偏航复合特性，设计了前馈补偿、回路加权和控制分配策略，并开展了仿真和试飞验证。研究结果表明：所建立的非线性动力学模型具有较高置信度，数学模型配平结果与风洞试验配平试验结果一致性较好；高/低阶线性模型的特征根分布规律基本一致，操纵响应历程与非线性动力学模型吻合较好；速度包线范围内升力、推力、航向复合飞行控制策略的有效性通过了飞行仿真检验；成功开展了国内首款300 kg级复合式高速无人直升机原理样机试飞，验证了悬停和小速度状态下的飞行控制策略有效性。
聂博文 , 王亮权 , 黄志银 , 何龙 , 杨仕鹏 , 颜鸿涛 , 章贵川 . 复合式高速无人直升机飞行动力学建模与控制策略设计[J]. 航空学报, 2024 , 45(9) : 529848 -529848 . DOI: 10.7527/S1000-6893.2024.29848
The compound high-speed unmanned helicopter consists mainly of the aerodynamic components such as rotor， wing， propeller， fuselage， and horizontal & vertical tails. Aerodynamic interferences between components can be complex and vary rapidly with the forward flight speed. To achieve a high level of model confidence， it is necessary to correct the flight dynamics model parameters according to the forward flight speed. Besides， the flight control scheme must be adjusted accordingly to achieve stable and controllable flight throughout the entire speed envelope. A model for the flight dynamics of the compound high-speed unmanned helicopter is presented. The model is corrected based on wind tunnel trimming tests to enhance the confidence of the mathematical model. At the trimming point， the non-linear dynamics model is linearized to obtain the evolution of the open-loop dynamics with the forward flight speed. The effect of the control augmentation system on the closed-loop steering stability performance is also evaluated. Based on the classical control approach， a set of practical feed-forward compensation， loop weighting， and control allocation schemes are designed considering the lift， thrust， and yaw characteristics of the compound high-speed unmanned helicopter. Simulation and test flight verification are carried out to confirm the effectiveness of these schemes. The results show that the proposed nonlinear dynamic model has high confidence， and the consistency between the trim results of the mathematical model and wind tunnel tests is good. The distribution of eigenvalues of the high/low-order linear models is basically consistent and the maneuver response characteristics are in good agreement with the nonlinear dynamic model. The flight simulation preliminarily validates the effectiveness of the compound scheme for lift， thrust， and yaw. The successful flight test of the first 300 kg prototype in China validates the compound flight control scheme in hover and low-speed flight.
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