Research On Helicopter Landing Control Technology Based On Robust Preview Control

With the advantages of vertical take-off and landing,fixed-point hovering,low speed and low speed flight performance,unmanned helicopter is of great significance for both civil use and military use.Carrier-based unmanned helicopter can finish many kinds of tasks like space warfare,electronic warfare,early warning and detection attack.Research on carrier-based unmanned helicopter is taken seriously by more and more countries.However,because of the complex of flight control technology,guidance technology and recovery equipment,very large development space exists when carrier-based unmanned helicopter lands.In this thesis,the flight control problem in descent landing stage(The stage from the moment that helicopter reaches directly above the deck to the moment of final successful landing)is studied,so is the deck motion estimate problem.It provides some theoretical reference to deal with the key technical problem of unmanned helicopter landing.An deck motion estimate technology based on adaptive AR(Auto Regressive)is proposed.It uses the past deck motion information to estimate the future deck motion information.Estimate result is shown in the simulation,which illustrates the deck motion estimate algorithm based on adaptive AR meets the requirement.The future deck motion information is introduced into the flight control system through the feed-forward control module when landing.The tracking back-ward and tracking error can be eliminated and the deck motion disturbance can be compensated.Optimal preview control algorithm is used in the flight control system from approach to landing.Longitudinal control law,lateral control law,heading control law and landing height control law is designed to deal with the tracking problem in descent landing stage.The control system is simulated and compared with the PID control system to illustrate the superiority of the optimal preview control algorithm when tracking dynamic command trajectory.A robust preview control algorithm is proposed based on the optimal preview control algorithm to restrain atmospheric turbulence.The tracking problem and the environmental disturbance suppression problem are solved comprehensively.All the controllers designed based on the robust preview control algorithm are used to control the unmanned helicopter landing.The control system is simulated and compared with the optimal preview control system to illustrate the superiority of the robust preview control algorithm in dynamic command trajectory tracking and atmospheric turbulence suppression.