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垂直起降功能对于无人直升机在复杂环境下完成各种任务有着至关重要的作用。由于无人直升机的非线性、各通道强耦合等特点,设计合理的控制方案和控制方法,成了必须要研究的问题。首先研究了无人直升机在垂直起降阶段的飞行方案设计,给出了高度指令和垂向速度指令;在此基础上,针对已有的并行控制律结构,设计了基于模糊自适应PID的垂直起降控制律;并对垂直起降过程进行了仿真,以验证控制器的效果。
Vertical take-off and landing functions for unmanned helicopters in complex environments to complete a variety of tasks has a crucial role. Due to the non-linearity of unmanned helicopter and the strong coupling of each channel, the design of reasonable control schemes and control methods has become a problem that must be studied. Firstly, the design of the flight plan of UAV in the vertical takeoff and landing phase is studied, and the altitude command and vertical speed command are given. Based on the above, aiming at the existing parallel control law structure, a vertical Take-off and landing control law; and vertical take-off and landing process simulation to verify the controller’s effect.