In response to the difficulty of maintaining attitude stability and trajectory tracking flight during the helicopter's self rotating glide process, a cascade control method was adopted to design a helicopter's self rotating controller. Firstly, an improved LQR based attitude controller is used in the inner loop to enhance the stability and robustness of the helicopter attitude. Then, a trajectory tracking controller based on MPC is used in the outer loop, and the optimal control quantity is obtained through a recurrent neural network to achieve the function of autorotation and glide trajectory tracking. Finally, the effectiveness and robustness of the controller were verified by adding sensor noise interference and external gust interference.
Research on Autorotation Flight Control Technology of Unmanned Helicopters
2023-10-06
489818 byte
Conference paper
Electronic Resource
English
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