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Autonomous takeoff and landing control for a prototype unmanned helicopter

机译:原型无人直升机的自主起降控制

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摘要

In this paper, an autonomous takeoff and landing control strategy is designed and implemented for a prototype coaxial unmanned helicopter with ducted fan configuration. The control strategy is designed such that longitudinal and lateral controls use ground forces, attitude and drifting feedbacks. Vertical control employs takeoff and landing decision and vertical velocity control is based on altitude tracking. Ground forces feedback is used to balance longitudinal forces and moments during liftoff effectively cancelling all ground forces. Attitude and drifting feedbacks are used to balance the longitudinal and lateral movements of the helicopter during takeoff and landing. The flight control strategy is successfully verified during flight tests.
机译:在本文中,为带有导管风扇配置的原型同轴无人直升机设计并实现了自主的起降控制策略。设计控制策略时,纵向和横向控制使用地面力,姿态和漂移反馈。垂直控制采用起飞和降落决策,垂直速度控制基于高度跟踪。地面力反馈用于平衡升空过程中的纵向力和力矩,从而有效抵消所有地面力。姿态和漂移反馈用于在起飞和降落期间平衡直升机的纵向和横向运动。飞行测试过程中成功验证了飞行控​​制策略。

著录项

  • 来源
    《Control Engineering Practice》 |2010年第9期|P.1053-1059|共7页
  • 作者单位

    College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China;

    rnCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China;

    rnCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China;

    rnCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    unmanned helicopter; autonomous takeoff and landing; attitude control; anti-drifting control; ground collision avoidance;

    机译:无人直升机自主起降;态度控制防漂移控制;避免地面碰撞;
  • 入库时间 2022-08-18 02:04:42

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