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Research on Control Technology of Pendulum in Single Rotor Helicopter with Ducted Fan

Author: JiangJinZhe
Tutor: WangDaoBo
School: Nanjing University of Aeronautics and Astronautics
Course: Control Theory and Control Engineering
Keywords: Unmanned helicopter Ducted Pendulum Physical model Consumer swing control law Simulation
CLC: V249.1
Type: Master's thesis
Year: 2008
Downloads: 226
Quote: 0
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Abstract


The single rotor ducted fan unmanned helicopter full machine uses a symmetrical layout , its weight, inertia and aerodynamic characteristics and so maintain symmetry , so that the body will produce similar pendulum swing during the flight , the pendulum will seriously affect the stability of the flight and reconnaissance accuracy performance . In this paper, the mechanism by helicopter pendulum phenomenon of analysis, modeling, design and simulation of the control method , the the pendulum control technology for single rotor ducted fan unmanned helicopter deep . Research object is a new unmanned helicopter single rotor ducted fan configuration , the structural characteristics of the unmanned helicopter and flight test experimental data , the pendulum phenomenon existence . Single rotor ducted fan unmanned helicopter configuration characteristics and mechanism of the pendulum phenomenon , according to its external characteristics abstract mathematical model of the pendulum . Based on the the pendulum model established , the control law is designed to eliminate the pendulum . And produced a pendulum physics experiment platform pendulum phenomenon reproducibility and validation of the control law . Depth discussion of the single rotor ducted fan unmanned helicopter dynamics, combined with the full amount of equations and linear incremental equations derived the pendulum modal mathematical . Unmanned helicopter coupling conditions and the use of unmanned helicopter designed by the principle of invariance decoupling control law , the attitude and position control the decoupling conditions under the physical model of the consumer , and then through control loop pendulum control legal and reasonable use of to single rotor ducted fan unmanned helicopter control system . The last research flight control system pendulum control technology to achieve , including the the pendulum phenomenon judgment conditions , the conditions of the pendulum control exit eliminate swing control law and attitude control law reasonable switching ; nonlinear factors for the pendulum simple . Digital simulation to verify the correctness of the model established by the pendulum , consumer pendulum the effectiveness of the control law , and the compatibility of the pendulum control and attitude control .

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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