Research On Flight Control Technology Of The Unmanned Helicopter During Forward Flight

Unmanned helicopter has the unique ability of flying both with the advantages of unmanned aerial vehicles and helicopters, it is valuable in military and civilian. As its full envelop includes hover/low-speed and forward flight situation, the research of forward flight control system at the basis of hover/low-speed , will solve the difficult of forward flight effectively and increase the flight ability of forward flight.Because of high-rank, unstability, nonlinear,strong coupling and high uncertainty of unmanned helicopter, it is difficult to build dynamic model of unmanned helicopter. Although FlightLab software can provide the more accurate nonlinear dynamic model, it is inconvenient in flight tests, so the thesis will use the method of group linear models to replace the nonlinear model.According to the flight characteristics of unmanned helicopter, the thesis has proposed the basic longitudinal and lateral flight modes and control scheme of unmanned helicopter during forward flight. According to the flight control scheme, the thesis has designed the longitudinal and lateral control law and achieved the longitudinal and lateral flight modes.The thesis has improved the old equivalent simulation system. Through removing the old equivalent simulation software and integrating the model and equivalent flight control software, the new equivalent simulation software has achieved. At last, the new equivalent simulation system has achieved by integrating the remote software and equivalent simulation software.Designing the autonomous flight example route, the thesis has verified the forward flight control system.. By comparing the key states between simulation and test flight datas, the feasibility of the method of group linear models to replace the nonlinear model can be verified. By comparing the simulation datas between no wind and wind, the robustness of forward flight control system can be verified.