Research On Helicopter Adaptive Landing Gear Collaborative Control System Based On Multi-sensor Fusion

Most existing helicopters are equipped with three-point landing gear or skid landing gear.Due to the fixed structure and short movable travel,the helicopter is prone to slide and roll over on the relative landing surface when landing on a random and dynamic nonlinear landing platform such as a rugged,slope or ship deck,thus causing economic and personnel losses.To further improve the application range of the helicopter and ensure the safe landing of the helicopter in an extreme environment,an adaptive landing gear with adjustable legs based on multi-sensor fusion was proposed.Based on the analysis of the existing problems of adaptive landing gear and its control system,a multi-sensor collaborative H-type layout leg adaptive landing gear was proposed,and a multi-sensor data fusion collaborative control system was built according to its expected functions.Firstly,according to the technical requirements of adaptive landing gear,kinematics analysis of adaptive landing gear is carried out to determine the relationship between foot displacement and motor rotation angle and the adjustment range of the landing gear.Secondly,according to the characteristics of ship swing or ground unflatness,combined with the mission requirements of the landing gear system,the optimal landing process of a helicopter equipped with adaptive landing gear is proposed.Thirdly,a multi-dimensional sensing cooperative control system based on 3D SLAM Lidar,pressure sensor and MPU6050 inertial navigation element is proposed with STM32 microcomputer as the underlying control element to realize the functions of air attitude pre-adjustment and landing attitude fine-tuning.Fourthly,the feasibility of secondary controllers such as attitude control,impedance control,the center of gravity control and PID position control of the cooperative control system is verified in the simulation environment.Finally,a variety of terrain landing platforms and a simulated ship swing platform are built for landing tests to verify the response speed,adaptive ability and robustness of the collaborative control system.The results show that the proposed adaptive landing gear and its cooperative control system can safely land on the deck of a ship on slopes,crags and dynamics.In the process of landing,the control system has stable and efficient regulation,accurate recognition of different types of terrain,strong ability to resist external environmental interference,and significantly improved the helicopter landing performance on complex terrain,which has high research value and development potential.