Research On Omni-directional Navigation Control Technology Of The Novel Unmanned Helicopter

The research object of this paper is an unmanned helicopter of new configuration. This type of unmanned helicopter with single rotor and ducted fan has used the coaxial symmetrical layout. There is no obvious difference between head and tail of the structure. This paper proposed a new theory of omni-directional navigation and studied the control technology of omni-directional navigation.Firstly, omni-directional feature was analyzed on physical structure and mathematical model, according to layout characteristics of the unmanned helicopter. This paper considered that the unmanned helicopter possessed omni-directional flying capacity. Compared with conventional aircraft feed-forward navigation strategy, this paper proposed a new omni-directional navigation strategy. Secondly, attitude stabilization control loop of the unmanned helicopter was analyzed. Velocity control loop was designed on the basis of attitude stabilization control loop. The omni-directional navigation control technology of the point-to-point and the turning flight was researched in outer loop, as velocity control circuit is inside loop. Normally control mode of unmanned helicopter is divided into two control mode of hovering and flying. The two control mode was integrated into one control mode with no switch during flying in this paper. Therefore the perturbation problem caused by the switch between hovering control mode and flying control modes has been resolved. Finally, the realization method of the omni-directional navigation control technology of the unmanned helicopter was designed from hardware and software. Meanwhile, all-digital simulation and hardware-in-the-loop simulation structure was designed and omni-directional navigation simulation experiment was done in this paper. Advanced omni-directional navigation strategy and the omni-directional navigation control technology was verified by the result of simulation experiment.The omni-directional navigation control technology not only applies to the unmanned helicopter researched in this paper, but also applies to the class of axisymmetric aircraft. UFO was illusion for alien's flying vehicle by human, which was the omni-directional aircraft applicable to the omni-directional navigation theory. Results of this study can provide beneficial reference for flight control of such omni-directional aircraft.