Guidance And Control Of Autonomous Helicopter Ship Landing

Carrier-based unmanned helicopter is an integral part of modern surface warships combat system.It will play an important role in future wars. The core technology of Carrier-based unmannedhelicopter is to design and develop a very effective guidance system. This system can makeautonomous helicopter land on the ship which is doing six degrees of freedom movement. This paperstudies the guidance and control system of automatic helicopter ship landing.Firstly, the dynamic model of unmanned helicopter and its landing environment were introduced.A complete coordinate system of Landing was established. The process of landing was analyzed. Baseon the process, Unmanned helicopter automatic landing on the ship can be divided into twostages——Approach and Descending. The two stages were studied respectively.Secondly, the flight control system of the unmanned helicopter was designed. Based on theengineering application, classic PID control was used to design the four channel control law of theunmanned helicopter. Considering the strong external interference, neural network dynamic inversioncontrol was also used to design the control law. The performance of control system is verified bysimulation. The results show that neural network dynamic inversion control system has betterdynamic tracking performance and robustness.Thirdly, the stage of approach was studied. The method of cubic spline interpolation was used todesign a reference trace, which guide unmanned helicopter approach to the ship. The method of lineof sight was used to design the guidance law, and verified the performance of the stage of approach bysimulation. The results show that this method can guide and control the unmanned helicopterapproach to the ship along the reference trajectory.Finally, the stage of descending was studied. An effective deck predictor is presented bymodified AR model, which can decide the best time to start descending. The corresponding controllaw was designed. The simulation results show that this system can guide the unmanned helicopterland on the ship at the required time, and meet the requirements of ship landing.The study show that, the autonomous helicopter ship landing system in this paper can guideunmanned helicopter approach and land on the ship successfully. This research can be a reference forunmanned helicopter autonomous ship landing engineering.