针对轴对称构型的无人直升机,在速度控制回路的基础上,提出了一种能够保证飞行过程中航向恒定的全向控制方法.通过分析无人直升机的特征值分布、状态响应和操纵响应特性,得到无人直升机在对称轴的法平面内具有各向一致性,具备实现全向控制的务件.提出了将给定速度在对称轴法平面内进行分解,并考虑侧偏修正的全向控制规律仿真试验表明,全向控制能够精确地跟踪给定航迹,保持飞行过程中的航向恒定,在不转动机体的情况下,实现向各个方向的飞行.方法也可推广到其他类似的轴对称飞行器.%Aiming at the unmanned helicopter which has axisymmetric configuration, on the basis of velocity control loop,an omni- direction control concept is proposed which could guarantee in the process of flight the unmanned helicopter's heading fix. First,by analyzing the eigenvalue distribution,the state response and control response of an unmanned helicopter, obtained that the helicopter is consistency in the normal plane of helicopter's symmetry axis,and have the conditions to realize omni- direction control. Then the control law is proposed which decompose the given velocity in the normal plane and take into account the correction of route bias at the same time. The simulation result show that the omni- direction control method could accurately track given route and maintain the direction immovable. In other words, axisymmetric helicopter could flight to any direction in the case of not turning the body. This control method can be extended to other similar axisymmetric aircraft.
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