复合式高速无人直升机飞行动力学建模与控制策略设计

doi:10.7527/S1000-6893.2024.29848

Abstract

Abstract:

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.

Key words: compound high-speed helicopter, flight dynamics, wind tunnel test, control scheme, flight simulation, flight test

CLC Number:

V249.122

Bowen NIE, Liangquan WANG, Zhiyin HUANG, Long HE, Shipeng YANG, Hongtao YAN, Guichuan ZHANG. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529848.

Figures/Tables 28

Fig.1

Table 1

Table 2

Control surfaces of compound high-speed unmanned helicopter

舵面	数值	舵面	数值
$Ω Ω P$ /（r·min^-1）	880/4 000	$δ c o l P$ /（°）	-15~40
$δ c o l$ /（°）	0~12	$δ p e d P$ /（°）	-15~40
$δ l o n$ /（°）	-8~8	$δ r$ /（°）	-30~30
$δ l a t$ /（°）	-8~8

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Fig.18

Fig.19

Table 3

Definition of flight control modes

控制通道	控制模式	控制回路
垂向通道	1—爬升速度控制	$h ˙ ← δ c o l$
垂向通道	2—高度保持	$h ← δ c o l$
纵向通道	1—俯仰角控制	$θ ← δ l o n$
	2—前飞速度控制	$θ ← δ l o n, u ← δ c o l P$
	3—悬停位置粗调	$θ ← δ l o n, Δ x ← δ c o l P$
	4—悬停位置精调	$Δ x ← θ ← δ l o n$
横向通道	1—滚转角控制	$ϕ ← δ l a t$
	2—侧向速度控制	$v ← ϕ ← δ l a t$
	3—悬停位置控制	$Δ y ← ϕ ← δ l a t$
	4—航迹角控制	$χ ← ϕ ← δ l a t$
	5—侧偏位移控制	$y ← ϕ ← δ l a t$
航向通道	1—前飞偏航角控制	$ψ ← δ p e d P, ψ ← δ r$
航向通道	2—前飞侧滑角控制	$β ← δ p e d P, β ← δ r$

Table 3

Fig.20

Fig.21

Fig.22

Fig.23

Fig.24

Fig.25

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部件	参数	数值
全机	起飞质量/kg	300
全机	机体尺寸（长×宽×高）/（m×m×m）	3.4×2.3×1.5
旋翼	直径/m	4.3
旋翼	桨叶数量/片	2
螺旋桨	直径/m	0.82
螺旋桨	桨叶数量/片	3

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Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters

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