共查询到19条相似文献,搜索用时 125 毫秒
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为了抑制小型无人直升机在悬停控制中遇到的侧风等干扰,将自适应逆控制(AIC)理论引入其中,并针对小型无人直升机在悬停状态下的模型特性及控制器的鲁棒性设计问题,改进了自适应逆控制框图。同时,根据小型无人直升机悬停基本原理,搭建了悬停试飞平台,并利用Kane方法对小型无人直升机进行了动力学建模。在算法上采用递推最小二乘算法(RLS)对小型无人直升机进行参数辨识和控制器的设计。实验结果表明,AIC-RLS方法在消除侧风等干扰性能上优于PID控制器。室外平台悬停控制的实现证明了上述方法的有效性。 相似文献
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介绍了微型无人直升机的特点和作用,叙述了其发展概况和趋势,并且针对未来的先进的微型无人直升机的发展需求,提出了在控制设计、导航以及遥操作方面需要考虑的一些关键技术问题,为今后的微型无人直升机的发展提供参考。 相似文献
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根据三自由度直升机实验平台,分析了其固有的特征,即:典型多输入-多输出特性、非线性和强交叉耦合性。在此基础上,建立了系统的数学模型并设计了适合该实验的PID控制器。利用VC 编程环境,对直升机飞行的高度及速度控制进行了实现。实验结果表明,其控制效果达到了预定的指标。 相似文献
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为保证无人机飞行试验的安全性,提升无人机飞控系统设计的可靠性,自主研发了无人机飞行控制半实物仿真系统。结合准确的无人机6自由度非线性数学模型和xPC实时系统模块模拟生成无人机飞行状态信息,根据地面站控制指令、传感器故障模注入指令解算获得不同飞行模式和飞行状态下的舵面偏转量,实现了实时系统闭环反馈控制,并驱动舵面偏转检验控制系统的响应速度。该系统不仅能验证飞控系统的逻辑性和实时性,而且借助虚拟现实技术和航迹地图显示,具备在线整定控制律参数的功能。该系统模块化程度高,相关硬件和软件对无人机平台和飞控计算机通用性广,依据多平台实验和多架次试飞的实验流程实用性强,为无人机飞控系统开发提供了切实可行、高效可靠的途径。 相似文献
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前一段时间,网络上出现了一批清仓处理的特价遥控模型直升机,别看这些模型直升机价格便宜,但是飞行性能却一点都不亚于专业遥控模型直升机。在好奇心的驱使下,笔者也买来一台,其名为艾特250遥控模型直升机。 相似文献
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基于红外技术的机载高压线避障系统能有效保证直升机在低能见度条件下的低空飞行安全,避免直升机低空飞行撞击高压线。在分析红外成像原理的基础上,设计了红外光路系统和数字信号处理系统,结合霍夫变换算法,实现了高压线辨识与报警。该系统在某型直升机上挂载飞行表明:系统能较好地辨识500m范围内直径30~50mm的高压线,有效避免因高压线造成的直升机损失。 相似文献
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Designing reliable flight control for an autonomous helicopter requires a high performance dynamics model.In this paper,a nonlinear autoregressive with exogenous inputs (NLARX) model is selected as the mathematical structure for identifying and controlling the flight of a small-scale helicopter.A neural network learning algorithm is combined with the NLARX model to identify the dynamic component of the rotorcraft unmanned aerial vehicle (RUAV).This identification process is based on the well-known gradient descent learning algorithm.As a case study,the multiple-input multiple-output (MIMO) model predictive control (MPC) is applied to control the pitch motion of the helicopter.Results of the neural network output model are closely match with the real flight data.The MPC also shows good performance under various conditions. 相似文献
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Without sufficient real training data, the data driven classification algorithms based on boosting method cannot solely be utilized to applications such as the mini unmanned helicopter landmark image detection. In this paper, we propose an approach which uses a boosting algorithm with the prior knowledge for the mini unmanned helicopter landmark image detection. The stage forward stagewise additive model of boosting is analyzed, and the approach how to combine it with the prior knowledge model is presented. The approach is then applied to landmark image detection, where the multi-features are boosted to solve a series of problems, such as rotation, noises affected, etc. Results of real flight experiments demonstrate that for small training examples the boosted learning system using prior knowledge is dramatically better than the one driven by data only. 相似文献
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在单旋翼涵道尾桨直升机的非线性全量飞行动力学数值模型的基础上,提出了求解配平问题的一种混合算法,研究了地面效应对配平的影响。以某直升机为算例,在无地面效应和考虑不同悬停高度时,分别进行了初始参数进行了配平,配平计算结果与地面效应的理论相符合。 相似文献
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胡朝晖 《重庆职业技术学院学报》2014,(2):146-148
通过价格低廉的电动航模作为无人载机,配备飞行控制系统、数传系统、遥测系统、GPS信号、定焦数码相机从而构成的简易遥感系统,获得对地面的遥感图像和无人机的姿态数据。根据几何校正模型,对拍摄的图片进行几何校正;通过图像融合拼接,得到目标地区的大面积数字影像图。 相似文献
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对于大角度、大范围、复杂场景的快速扫描成像系统,除了要进行任意运动和动态采集建模外,还要对激光传感器的姿态和位置进行实时精确的描述.基于此要求,文中构建了一种基于小型无人直升机机载激光扫描传感器的三维建模成像系统,并设计了一种分步式串级滤波算法,将激光测距传感器得到的距离信息,与小型无人直升机惯性导航系统解算的姿态与位置数据进行融合,实现空间扫描点到基准坐标系的映射,并完成2D行扫描到3D空间的扩展,建立现实世界的3D数字模型. 相似文献
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袁凯 《成都航空职业技术学院学报》2021,37(1):39-41
振动是直升机飞行中常发生的故障之一,严重影响直升机的飞行安全。某型直升机在试飞过程中,连续出现多架左座总桨距操纵杆振动偏大的故障,给正在开展的试飞工作带来了极大的困难。针对该故障通过测振分析、试验和对比其它同型号直升机,准确判断出导致问题发生的原因,从而采取相应的改进措施并进行试飞验证,最终使得直升机总桨距操纵杆振动水平大大降低,消除了质量安全隐患,确保了该型直升机的操纵可靠性,并为后续类似问题提供了解决思路。 相似文献
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The purpose of using life extending control for Black Hawk UH-60 helicopter is to make a trade-off between the handling qualities and the service life of critical components. An increase in service life span results in enhanced safety and the reduction in maintenance costs. This paper presents a design methodology of life extending control for structural durability and high performance of mechanical system, which is based on an explicit dynamic inversion control scheme. A real-time nonlinear fatigue crack growth model is built to predict fatigue damage resulting from the impact of cyclic bending stress on rotor shaft, which serves as an indicator of service life. The 4-axis gain- scheduled flight controller, whose gains are adjusted as a function of damage and flight velocity, is designed to regu- late roll attitude, pitch attitude, vertical velocity and yaw rate. The nonlinear system simulation results show that the responses can meet the requirements on ADS-33 Level 1 handling qualities and that the 4-axis decoupling control is realized. As the damage increases, the tracking performance is slightly degraded, which results in smaller transients in bending moment response. 相似文献
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S. P. Govinda Raju 《Resonance》2010,15(5):400-410
There is much current interest in small unmanned airplanes weighing about five kilograms all the way down to about 100 grams.
Even such small airplanes are capable of performing useful surveillance missions in peace time and during conflicts. As these
airplanes operate at very low flight speeds in the range of about 10–20 m/s, their performance is strongly affected by the
low Reynolds numbers characteristic of such flight. In this article, we consider the special aerodynamic and propulsion problems
associated with the flight of such small airplanes. 相似文献