Research On Modeling And Control Technology Of Unmanned Gyroplane

Unlike traditional helicopters and fixed-wing aircraft,due to the unique flight control capabilities,unmanned gyroplanes are usually used in military and civilian fields.However,unmanned gyroplanes are multi-variable,highly nonlinear,highly coupled and high-order control system,which is making the design of high-performance flight control strategy facing great challenges.In this paper,the unmanned gyroplane is studied and it is different from the conventional gyroplane in that it adopts the two-engine variable thrust axis.For the unique external configurations and manipulators from the perspective of engineering,the mathematical model is established and the control strategy is designed for the unmanned gyroplane,and the flight simulation experiment is carried.This will lay the foundation for further research about the advanced control algorithm on the unmanned gyroplane.First of all,according to the principles of aerodynamics and kinematics,including the rotating rotor,variable two-engine thrust axis,wings,fuselage,horizontal tail and vertical tail,the nonlinear mathematical model of the unmanned gyroplane is developed by using the independent-component modeling method.The nonlinear mathematical model is linearized based on the small deviation method.And the maneuver responses are analyzed,which provides the basis for the design of control strategy of the unmanned gyroplane.Secondly,from the perspective of engineering,the control strategy of gyroplane is designed.The attitude,velocity,height and position loop are studied and designed respectively.And the basic laws are designed and the simulation is carried out to testify the effectiveness of the control strategy.The running takeoff strategy is designed and the field takeoff experiment is carried out.Finally,the engineering implementation of the flight control system of unmanned gyroplane is studied.The airborne flight control system based on DSP and the ground monitoring station based on man-machine interface are designed.And the hardware structure module and software are detailed analyzed.The semi-physical simulation platform is established and the full flight tests are carried out on it,the results have demonstrated that the control strategy and the logic of tasks are reasonable.