直升机人机协同控制方法研究与飞行验证

金子博; 李道春; 孙毅; 张凯; 向锦武

doi:10.13700/j.bh.1001-5965.2022.0038

直升机人机协同控制方法研究与飞行验证

doi: 10.13700/j.bh.1001-5965.2022.0038

1.
北京航空航天大学航空科学与工程学院，北京 100191
2.
北京北航天宇长鹰无人机科技有限公司，北京 100191

详细信息

通讯作者:
E-mail：lidc@buaa.edu.cn

中图分类号: V241
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出版历程
- 收稿日期: 2022-01-20
- 录用日期: 2022-03-25
- 网络出版日期: 2022-03-31
- 整期出版日期: 2023-11-30

Man-machine cooperative control of helicopter and flight experimental validation

1.
School of Aeronautic Science and Engineering，Beihang University，Beijing 100191，China
2.
Beihang UAS Technology Co.，Ltd.， Beijing 100191，China

More Information

Corresponding author: E-mail：lidc@buaa.edu.cn

摘要

摘要:
人机协同系统可以充分发挥人类智慧的优越性和机器人作业的高精度与高效率，被广泛应用于决策指挥、工业控制和医疗手术等领域。飞行员驾驶飞行器时需要实时处理大量信息并给出精准操控，操纵负担大。基于典型单旋翼直升机的操控特点，设计一种直升机协同驾驶机器人系统，驾驶机器人连接直升机周期变距杆控制直升机的俯仰运动和滚转运动，飞行员通过总距杆和脚蹬控制直升机的航向运动和升降运动。协同驾驶机器人可以在不改装原有直升机的基础上实现一种新型的人机协同飞行控制，快速提升现有直升机的自动化水平和飞行员在应急情况下的生存能力。研究驾驶机器人控制系统模型，建立适用于直升机人机协同控制的飞行模拟平台，通过飞行员在环飞行仿真初步验证了人机协同控制方法的可行性。在飞行仿真验证的基础上研制了驾驶机器人样机，并将样机搭载在SVH-4直升机上完成飞行实验验证。
- 人机协同 /
- 直升机 /
- 驾驶机器人 /
- 飞行控制 /
- 飞行实验
Abstract:
The man-machine cooperation system can make full use of the advantages of human intelligence and the high precision and efficiency of robot operation. The substantial control burden placed on pilots results from their requirement to analyze a huge quantity of information in real time and provide precise control while operating the aircraft. A cooperative robot pilot was proposed based on a typical helicopter flight platform. The robot pilot connects the cyclic control stick to control the pitch motion and roll motion of the helicopter while the human pilot manipulates the pedals and collective to control the yaw motion and helicopter height. The cooperative robot pilot, which may swiftly raise the automation level of the current helicopter and increase the pilot’s viability in an emergency, introduces a novel approach to man-machine cooperative flight control without altering the original aircraft. The control system of the cooperative robot pilot was studied and the flight simulator for man-machine cooperative piloting was established. The feasibility of the cooperative piloting method was preliminarily verified through the pilot-in-loop flight simulations. Based on the flight simulation verification, a prototype of the cooperative robot pilot was developed and installed in the SVH-4 helicopter to complete the flight experiment verification.
- cooperative piloting /
- helicopter /
- robot pilot /
- flight control /
- flight experiment

HTML全文

图 1 直升机驾驶舱建模

Figure 1. Modelling of helicopter cockpit

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图 2 周期变距杆运动空间

Figure 2. Motion space of cyclic control stick

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图 3 直升机人机协同总体控制方法

Figure 3. Overall scheme of human-machine col-laborative system

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图 4 驾驶机器人主体结构与舱内安装

Figure 4. Main structure and cockpit installation of robot pilot

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图 5 驾驶机器人控制系统

Figure 5. Control system of robot pilot

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图 6 直升机飞行控制器

Figure 6. Helicopter flight controller

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图 7 人机协同驾驶飞行模拟平台

Figure 7. Flight simulator platform for cooperative piloting

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图 8 人机协同控制飞行仿真

Figure 8. Human-Machine cooperative flight simulations

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图 9 驾驶机器人舱内安装

Figure 9. Helicopter installation of robot pilot

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图 10 驾驶机器人飞行实验

Figure 10. Flight experiment of robot pilot

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图 11 直升机飞行数据

Figure 11. Helicopter flight data

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