Research On Control Technology In Automatic Landing Of Unmanned Autogyro

Autogyro is a kind of rotorcraft which takes the unpowered-rotor as the lift surface and the propeller thrust as the forward power.In this dissertation,an unmanned autogyro is taken as the research object.Aiming at the difficulties of its flight control,the research on flight control strategy of automatic landing is carried out.Finally,the reliability and applicability of the designed control strategy are verified by simulation and flight test.Firstly,based on the idea of independent modeling of each component of the aircraft,the non-linear dynamic model of the autogyro is obtained.On this basis,the necessity of speed-control for the flight safety of autogyro is analyzed,and two control problems in the process of automatic landing are pointed out: the strong coupling between pitch angle and speed,and the strong lateral interference caused by engine slipstream,which lay a foundation for the design of subsequent control strategies.Then,aiming at the problem of synchronous control of speed and altitude in the straight-line downslide section,two longitudinal control strategies are proposed for comparison.Through various uncertainties simulation and theoretical analysis,the problem of synchronous control can be effectively solved by throttle control altitude and rotor-disk control speed,and the flight safety of the target autogiro can be improved.Aiming at the coordinated control of ground-touching attitude and velocity in the near-ground pull-up section,the open-loop compensation method and the closed-loop control method are compared and studied: although the open-loop control strategy can ensure flight safety,it has poor robustness;the closed-loop strategy based on height feedback has stronger anti-jamming and practicability.Pointing at the requirements and difficulties of lateral control,the pre-landing section is proposed,and the lateral control strategy is designed to ensure the rapidity and accuracy of track control.It can also effectively avoid cross-wind and slipstream interference of the engine by keeping the heading.Finally,in order to validate the control strategy,an equivalent simulation system based on Win32 environment is developed.The system supports full-automatic simulation of batch processing under a large number of uncertainties,and improves the efficiency of the automatic landing simulation.The flight test is carried out for the research object,and the automatic and safe landing is realized,which shows that the designed strategy has enough value in engineering application.