| An in-depth study is carried out in this paper on landing simulation and training simulation technology of unmanned helicopter.A system program is firstly brought forward of carrying out simulation study of unmanned helicopter take-off and landing on the ship board, we construct respectively the mathematical simulation models of the helicopter and the ship, mathematical simulation model of the flying control system, the flow field model of ship deck, developing the interfaces and driver softwares of the visual display module and joysticks, and carrying out a preliminary study in the process of the cooperation between the helicopter and the ship.In the unmanned helicopter mathematical model, we use a mature quasi-steady lifting line theory to calculate the rotor aerodynamic loads, establishing the induced velocity model based on the Peter-He six-state generalized dynamic inflow theory, taking into account the aerodynamic interference of the rotor effecting on other parts of the fuselage and tail rotor ; constructing the system architecture of flight control system in the CSGE module , simulating the electrical and kinematic properties of the sensors and actuators ; The Flow Field on ship board has been tested in the Wind Tunnel based on the 1:100 scale model of the landing ship. And the calculated results by the Computational Fluid Dynamics theory are considered together to formulate the realistic flow field on the ship board. The joystick is taken as the external controlled input device and the interface program for the joystick is developed in the Linux system. The professional Visual Modeling software Creator and drive software Vega Prime are employed to simulate the visual view. The communication programs for the modules are developed by the User Datagram Protocol network communication pattern. And a whole set of simulation training system of the unmanned helicopter take-off and landing on the ship board is integrated. |
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