无人直升机自动航线飞行控制律设计与仿真

无人直升机具有悬停、小速度全向机动、大速度前飞等飞行能力，其飞行包线范围大，对飞行控制律设计的要求很高。无人直升机在进行自动航线飞行时，不仅涉及的飞行模态多，而且需要满足复杂的飞行航线需求。根据无人直升机复杂的航线飞行特点，对其航线飞行过程进行区域划分，针对不同划分区域，采用工程上常用的PID控制方法和衰减软化技术，设计了高度控制器、纵向位置控制器、横向位置控制器、协调转弯控制器和控制器问的切换算法，并进行典型航线飞行的数字仿真。仿真结果显示，无人直升机飞行航迹与设定航线的重合性较好，模态切换稳定平滑，从而验证了无人直升机自动航线飞行控制律设计的正确性，为后续工程应用奠定基础。

Design and Simulation of Automatic Course Flight Control Laws for Unmanned Helicopter

Unmanned helicopter is able to hover, flight to any direction in low speed, and flight for- ward in high speed. The large flight envelope contributes to the complication of the design of flight control laws. Unmanned helicopter flying over the route voluntarily, not only involves a plurality of flight modes, but also needs to adapt to the complex routes. According to the flight characteristics of unmanned helicopter, this paper divided the flight envelope into several different areas. For the dif- ferent phases, PID controller and softening technology commonly used in engineering were applied to the design of height controller, longitudinal position controller, the lateral position controller, coor- dinated turn controller and algorithm of the switch between controllers. Furthermore, a digital simu- lation of flight over a typical route was executed. The simulation results showed that unmanned heli- copter＇ s track and the expected route coincide precisely. The switch between modes was steady and smooth. The designed flight control laws were validated by the simulation, which laid the foundation for the future applications of the designed flight control laws.