The invention discloses a course fusion control method for variable rotor rotating speed of a small coaxial unmanned helicopter. The course fusion control method comprises the following steps: acquiring a course angle control implementation instruction of the unmanned helicopter; calculating the course angle control instruction through a differential tracker to obtain a course angle instruction and a course angle rate instruction; obtaining the feedback quantity of the real-time course angle and the real-time course angular rate of the unmanned helicopter, and obtaining a course angle error and a course angular rate error according to the course angle instruction, the course angular rate instruction and the feedback quantity; taking the course angle error and the course angle rate error as course control quantities; and distributing the course control quantity to the rotor rotating speed and the pitch angle change quantity of the unmanned helicopter, and controlling the unmanned helicopter to sail. The invention provides a brand-new course control strategy for the small electric coaxial unmanned helicopter, and the course control strategy is not limited to change the total pitch to realize the yawing motion any more.
本发明公开了小型共轴式无人直升机变旋翼转速的航向融合控制方法,包括:获取无人直升机的实施航向角控制指令;将所述航向角控制指令,通过微分跟踪器计算,得到航向角指令和航向角速率指令;获取所述无人直升机的实时航向角和实时航向角速率的反馈量,根据所述航向角指令和航向角速率指令以及反馈量,得到航向角误差和航向角速率误差;将所述航向角误差和航向角速率误差作为航向控制量;将所述航向控制量分配至所述无人直升机的旋翼转速和桨距角改变量,控制所述无人直升机航行。本发明为小型电动共轴式无人直升机提供了一种全新的航向操纵策略,不再局限于改变总距来实现偏航运动。
Course fusion control method for variable rotor rotating speed of small coaxial unmanned helicopter
小型共轴式无人直升机变旋翼转速的航向融合控制方法
2022-12-02
Patent
Electronic Resource
Chinese
European Patent Office | 2024
|Variable-speed course control system of unmanned helicopter
European Patent Office | 2024
|