Research On Flight Control Technology Of Forward Flight Phase For Unmanned Helicopter

Unmanned helicopter has the important value of military and civilian, because of its unique ability in within-visual-range hover and beyond-visual-range flight. The forward flight is the foundation of over-the-horizon flight for unmanned helicopter, whose control effect directly affects the stability and safety of over-the-horizon flight. Taking U8 E unmanned helicopter of AVIC China Helicopter Research and Development Institute as the research object, the paper has studied and verified the control technology in forward flight of U8 E unmanned helicopter through flight characteristics analysis, flight control law design, function module implement and autonomous route module planning.Concluding high order, strong coupling, nonlinear dynamic characteristics of unmanned helicopter, the paper first analyzed the particularity of unmanned helicopter in the stability, the coupling and handing from the two aspects. The one is the differences of forward flight between the fixed wing aircraft and unmanned helicopter. The other one is distinction between the hover flight and the forward flight of unmanned helicopter. Accordingly, the paper has made research scheme and technical route about flight control technology of forward flight. Secondly, the paper has optimized the flight mode with the core of plane and vertical movement, has designed the inner/outer loop control law of the four channels, and has realized function module and autonomous route module, according to flight function and performance requirements of forward flight control. The paper also has studied fixed radius solution and fixed yaw rate solution of unmanned helicopter coordinated turn, as well as the fusion of autonomous route flight and flight task, and has solved the security within the lateral wind and position precision in the process of recycling.Finally, many research content in this paper has been tested and verified in detail with the non-real time simulation system of MATLAB M language, the equivalent simulation system in Windows platform and semi-physical simulation system, as well as many actual test in plateau area of more than 1500 meters above sea level. Comprehensive test showed that the design and realization about flight control law, flight mode, function module and autonomous route module of forward flight in this paper are correct, reliable and effective, which can complete the research target and content better.