自动化学报2012，Vol.38Issue(8)：1385-1392,8.DOI:10.3724/SP.J.1004.2012.01385
一种小型无人直升机自主起飞控制方法
An Automatic Take-off Method for Small-scale Unmanned Helicopters
摘要
Abstract
Focusing on the problem that the take-off of a small-scale unmanned helicopter (SUH) mainly relys on the manoeuvre of the pilot on the ground, an automatic take-off method for SUHs is proposed based on the knowledge of pilot and system identification theory. First, through studying the relationships between altitudes, throttle, and collective pitch during SUH take-off manoeuvred by a professional pilot, the feasibility of realizing the take-off of SUH via studying the manoeuvre behavior of the pilot is analyzed, and the control flowchart of automatic take-off is designed. Safe altitude and variable gain control are introduced to improve flight safety of automatic takeoff, incomplete differential algorithm is utilized to restrain the high frequency disturbance aroused by differential. Then, in order to acquire the flight control parameters of automatic take-off, adaptive genetic algorithm is adopted to identify the dynamics model, and flight control parameters are obtained based on the identified model. Finally, the results of flight experiment conducted upon a type of SUH show that the control algorithm proposed in this paper could realize the automatic take-off of SUH effectively.关键词
小型无人直升机/自主起飞/系统辨识/自适应遗传算法Key words
Small-scale unmanned helicopter (SUH), automatic takeoff, system identification, adaptive genetic algorithm引用本文复制引用
杜玉虎,房建成,盛蔚,雷旭升..一种小型无人直升机自主起飞控制方法[J].自动化学报,2012,38(8):1385-1392,8.基金项目
国家重点基础研究发展计划(973计划)(2009CB72400102),国家自然科学基金(60736025,60905056),国家杰出青年科学基金(60825305)资助 （973计划）
