Research On Control Technology Of Pendulum In Single Rotor Helicopter With Ducted Fan

This helicopter whose quality, inertia and aerodynamics character are symmetrical, has used the axial symmetrical layout. So this helicopter may appear the phenomenon of pendulum, and the pendulum will influence the stability and the accuracy of patrol. This paper has analyzed the mechanism of pendulum, established the model, designed the controller and achieved the controller in the simulation, what is significance for the control technology of pendulum in Single Rotor Unmanned Helicopter with Ducted Fan.A new unmanned helicopter with single rotor and ducted fan is studied in this paper. According to the structure characeteristics of the unmanned helicopter and data of the flight before, the existence of the pendulum is researched.The mechanism of the pendulum is analyzed, the model of the pendulum is established, the controller of holding pendulum is designed, and the platform of the real pendulum is made which help to verify the controller.Then the equation of helicopter pendulum is derived from the nonlinear differential equation and linear differential equation, with the principle of helicopter aerodynamics. On the base of decoupling system, pose control and hover control are achieved. The control law of holding pendulum is applied is this helicopter with the mothod of controlling loop. Finally, the implement of the controller is researched, which includes the signs of pendulum and out of holding pendulum, and also Nonlinear factors of the pendulum are analyzed simply.Simulations are carried out according to pendulum model and the control technology of pendulum, the validity of the model of pendulum and effectiveness of the control approach are demonstrated by the experimental results.