Control And Implementation Of Gyroplane With Double Vectorial Thrust

Due to its simple structure,great safety performance and convenient operation,the traditional gyroplane has attracted the attention in the aviation field in recent years and has therefore been widely used in both military and civilian fields.However,due to the structural and dynamic characteristics of the gyroplane,its application is restricted by poor maneuverability and low cruising speed.Therefore,based on the research of the traditional gyroplane and the thrust vectoring technology,a gyroplane with double vectored thrust is designed in this study.Besides,a detailed research is carried out on the mathematical model,flight control and flight system realization of the gyroplane.First of all,based on reasonable assumptions,the structural characteristics of this model are designed and analyzed.Based on the analysis of the equilibrium relationship between the force and torque of the gyroplane,modeling was conducted on the auto gyro rotor,vectored thrust and fuselage of the gyroplane,respectively,and a simplified nonlinear mathematical model of the gyroplane is constructed.The data fitting method is applied to derive the fitting curves of the main rotor,the fuselage based on the data obtained by the wind tunnel testing.Based on the model,the analysis of longitudinal and lateral static stability and its control response characteristics are carried out,respectively.Secondly,the maneuvering characteristics of the gyroplane are analyzed and its control strategies are designed.Based on the realization of prototype,the attitude control loop,course angle control loop,engine speed control loop and rotor speed control loop of this model are respectively designed using classical control theory.On this basis,the flight speed outer loop and height outer loop are designed,and the validity and correctness of the designed control law are then verified by simulation.In the end,from the perspective of realization of prototype,the whole prototype system is divided into the airborne flight control system and the ground system of measurement and control,and the hardware structure and software implementation of the two components are described,respectively.The numerical simulation and semi-physical simulation with full flight process are carried out to work out the characteristics of the flight control system of this model.The simulation results shows that the characteristics of prototype proposed in this study,namely short takeoff,rapid cruise,rapid climbing,and the control strategies designed are valid and correct.