Research On Multi-Mode Transition Fuzzy Control Method And Logic Management For Unmanned Helicopter

Helicopter has many flight modes, such as vertically taking-off, landing, staying in hover, pirouette, flying forward and backward, so it can fly in any direction through mode transition. Unmanned helicopter can fly autonomously in envelope only when the flight controller and multi-mode transition controller are well designed. However, due to its multi-variable and nonlinear couple characters, it's difficult to build a precise mathematical model and the parameters are distinct between different flight modes. It can be disturbed by tail rotor turbulent and gust in terrible environment, so how to design effective and robust multi-mode transition controllers has become a highlight in unmanned helicopter flight control.Based on the analysis and summing-up of home and abroad, this paper is the research on the design of multi-mode transition controller and its logic management. The main content is as followed:Firstly, multi-mode transition controller is designed using fuzzy control. Flight state is the input of fuzzy controller, and the blending gain vector is fixed out by fuzzy output reasoned by fuzzy rules. Targets are also brought forward to value the transition.Secondly, a multi-mode transition fuzzy controller is designed in the transition of hover in low level mode to middle-speed forward in high level mode for one unmanned helicopter. Dynamics is built in MATLAB, and the flight controllers are designed. The simulation and analysis of robust prove that the fuzzy controller is effective.Lastly, method of curving up flight mode is described, and the necessary of multi-mode transition management is presented due to increasing number of modes. The problem can be modeled by graph theory and Dijkstra algorithm and Genetic algorithm are designed to solve multi-mode transition management for unmanned helicopter.