Research On Modeling And Control Technology Of Unmanned Gyroplane

Rotary rotorcraft is a rotor-type aircraft that relies on the air to drive the rotor to rotate.Because of the gyroplane characteristics of simple mechanical structure,low economic cost and good flight safety,the unmanned gyroplane has wide application prospect.However,gyroplane theory modeling confidence is low,vertical/horizontal and hight/speed control coupling is strong,take-off/landing control has its own characteristics and difficulties.In this paper,the gyroplane modeling technology based on parameter identification is studied to design the autonomous flight control.The flight simulation based on FlightGear platform is carried out and the flight demonstration verification is realized.The main contents of this paper are as follows:A gyroplane modeling method based on aerodynamic parameter identification technology with active control is introduced and a reasonable maneuvering gyroplane flight parameter acquisition scheme is designed.By the coherence model structure simplification,the identification accuracy evaluation and time domain model verification,the linear model at a velocity of 70mph based on the time-domain linear regression algorithm and the frequency domain equation error algorithm is obtained,which lays the foundation for the flight control law design of the gyroplane.Considering the different generatation ways of rotor lift in which the gyroplane compared to helicopters and fixed-wing aircraft,gyroplane aerodynamic characteristics is analysied.Based on the identification results combined with the gyroplane aerodynamic force analysis,the gyroplane’s vertical and horizontal static stability and maneuverability is analysied.At the same time,the influence of different forward force,longitudinal force,counterweight and altitude on the gyroplane aerodynamic characteristics are studied.Finally,human take-off and landing data are statistically averaged in order to study the take-off/landing control strategy and to provide data support for the autonomous take-off/landing scheme of the gyroplane.The flight control scheme is proposed.The longitudinal control strategy are used,including the height control by thrust,the speed control by longitudinal paddle position and the pitch control as the damping of speed control.The inner loop of lateral control strategy is roll control and the outer loop is path control.Based on the identified linear model and using the matching control surface and the throttle trim in the different state of the gyroplane as feedforward,the flight control law is designed and set up on the basis of determining the flight control structure.And then the unmanned take-off/landing scheme is designed.The low-speed high-gain and high-speed small-gain of the skid correction control scheme is carried out.Because the pressure longitudinal paddle position action in the moment of the gyroplane’s front wheel lifted up is very dangerous,a reasonable takeoff strategy is designed to avoid the fuselage posture instability.Take the same down angle to track down the trajectory for improving the landing accuracy.Aiming at the seriousness of the low fuselage posture in the sliding section,two kinds of landing control strategies are proposed.At the same time,the lateral anti-lateral wind strategy is proposed.In order to verify the autonomous take-off/landing control strategy,the YASim modeling method based on FlightGear software is used to build the all-inclusive aerodynamic model of the prototype ELA07,and the semi-physical simulation platform is built to realize the fully autonomous control.At the same time,considering the uncertain factors of the take-off/landing section and the environmental disturbance,the flight simulation of the take-off/landing section is carried out to verify the correctness of the control law and control logic of the unmanned gyroplane.Put forward a reasonable flight test scheme,given the steps to adjust the control parameters online,and finally succeeded in the prototype ELA07 unmanned first flight.The flight test data indicate that the control logic of the air cruise and autonomous takeoff/landing is correct and the control parameters are reasonable.