Research On Automatic Recovery Control Technology For Shipborne Unmanned Helicopter

As a new type of flight platform,shipborne unmanned helicopter has become the necessary equipment for future large surface ships.But in order to realize the practical application of Shipborne unmanned helicopter,independent recovery on board is the key technical problem that it must face and solve.This paper studies the problem from the following aspects:The paper first analyzes the causes of the ship problem and refers to the specifications of the manned helicopter and ship,and puts forward three step strategy of autonomous recovery,namely,"trajectory entry","hover follow up","fast landing",and on this basis,the whole research scheme of recovery guidance,guidance and control is designed.Secondly,on the basis of the model and flight performance analysis,the flight mode of shipboard recovery and the control law of each channel are designed.A design and implementation method of the optimal dynamic recovery entry trajectory based on Dubins is proposed.The method is combined with the disturbance motion of the ship deck and deck motion prediction algorithm by the combination of the forward network and the deck motion prediction algorithm.The method has solved the rapid landing control of carrier's "rest period".Finally,in view of the demand for the recovery and control simulation of the shipborne unmanned helicopter,the rapid simulation verification environment based on Matlab/Simulink,the real time "equivalent" Scene ship simulation environment based on Xplane and the semi physical simulation environment are designed and implemented respectively.Simulation results verify the effectiveness of the proposed control law,the recovery of dynamic trajectories,and landing of ships.