| Citation: | JIN Z B，LI D C，SUN Y，et al. Man-machine cooperative control of helicopter and flight experimental validation[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（11）：3022-3030 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0038
|
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.
| [1] |
LENAT D B, FEIGENBAUM E A. On the thresholds of knowledge[C]//Proceedings of the International Workshop on Artificial Intelligence for Industrial Applications. Piscataway: IEEE Press, 2002: 291-300.
|
| [2] |
杨灿军, 陈鹰, 路甬祥. 人机一体化智能系统理论及应用研究探索[J]. 机械工程学报, 2000, 36(6): 42-47. doi: 10.3901/JME.2000.06.042
YANG C J, CHEN Y, LU Y X. Study on the humachine intelligent system and its application[J]. Chinese Journal of Mechanical Engineering, 2000, 36(6): 42-47(in Chinese). doi: 10.3901/JME.2000.06.042
|
| [3] |
吴文海, 张源原, 周思羽, 等. 飞行员助手项目综述[J]. 航空学报, 2016, 37(12): 3563-3577.
WU W H, ZHANG Y Y, ZHOU S Y, et al. Overview of pilot’s associate program[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(12): 3563-3577(in Chinese).
|
| [4] |
程建锋, 董新民, 薛建平, 等. 飞机-驾驶员闭环系统模糊预见控制器设计[J]. 航空学报, 2014, 35(3): 807-820.
CHENG J F, DONG X M, XUE J P, et al. Fuzzy preview controller design for aircraft-pilot closed loop system[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(3): 807-820(in Chinese).
|
| [5] |
王洪. 飞机监视应用系统、航迹融合与ADS-B In应用[J]. 电讯技术, 2019, 59(12): 1488-1494.
WANG H. Aircraft surveillance applications systems, track fusion and ADS-B in applications[J]. Telecommunication Engineering, 2019, 59(12): 1488-1494(in Chinese).
|
| [6] |
RONG J E, SPAETH T, VALASEK J. Small aircraft pilot assistant: Onboard decision support system for SATS aircraft[C]//Proceedings of the AIAA 5th ATIO and16th Lighter-Than-Air System Technology and Balloon Systems Conferences. Reston: AIAA, 2005.
|
| [7] |
KREITMAIR-STECK W, HAISCH S, HESS S, et al. Eurocopter research on pilot assistance for rotorcraft[C]//Proceedings of SPIE - The International Society for Optical Engineering. Orlando: Defense AdvancedResearch Projects Agency, 2009: 78-87.
|
| [8] |
SANTANA G A, DE OLIVEIRA P H I A, CIMINI C A, et al. Assessment of a general aviation pilot assisting system influence on the piloting performance and safety of inexperienced pilots[J]. Advanced Materials Research, 2014, 1016: 655-660. doi: 10.4028/www.scientific.net/AMR.1016.655
|
| [9] |
PIENIAZEK J. Control and monitoring assistant for pilot[J]. Aircraft Engineering and Aerospace Technology, 2019, 91(5): 783-789. doi: 10.1108/AEAT-01-2018-0012
|
| [10] |
赵淑利, 李鑫. 自动飞行与电传操纵一体化设计分析[J]. 系统仿真学报, 2008, 20(2): 213-215.
ZHAO S L, LI X. The integrated design of automatic flight and fly-by-wire control[J]. Journal of System Simulation, 2008, 20(2): 213-215(in Chinese).
|
| [11] |
陈奎兆, 王江云. 飞行仿真器自动飞行系统研究[J]. 系统仿真学报, 2006, 18(S2) : 706-709.
CHEN K Z, WANG J Y. Research of automatic flight system in flight simulator[J]. Journal of System Simulation, 2006, 18(S2) : 706-709 (in Chinese).
|
| [12] |
张新国. 从自动飞行到自主飞行——飞行控制与导航技术发展的转折和面临的挑战[J]. 飞机设计, 2003(03): 55-59.
ZHANG X G. From automatic flight to autonomous flight[J]. Aircraft Design, 2003(03): 55-59(in Chinese).
|
| [13] |
吴文海, 张源原, 刘锦涛, 等. 新一代智能座舱总体结构设计[J]. 航空学报, 2016, 37(1): 290-299.
WU W H, ZHANG Y Y, LIU J T, et al. Overall architecture design of new generation intelligent cockpit[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(1): 290-299(in Chinese).
|
| [14] |
冯悦, 王言伟, 耿欢. 战斗机智能座舱人机交互方式发展及应用[J]. 飞机设计, 2020, 40(4): 54-58.
FENG Y, WANG Y W, GENG H. Development and application of human-computer interaction mode of fighter smart cockpit[J]. Aircraft Design, 2020, 40(4): 54-58(in Chinese).
|
| [15] |
JIN Z B, LI D C, WANG Z Y. Research on the operating mechanicals of the helicopter robot pilot[J]. IOP Conference Series:Materials Science and Engineering, 2020, 887(1): 012022. doi: 10.1088/1757-899X/887/1/012022
|
| [16] |
ASHLEY T. DARPA, army working on AI co-piloting software[J]. Inside the Pentagon, 2019, 35(20): 10.
|
| [17] |
SHIELDS P. Additive manufacturing of simulator parts[C]//Proceedings of the 73rd Annual AHS International Forum and Technology Display. Fairfax: American Helicopter Society International, 2017.
|
| [18] |
SONG H J, SHIN H, YOU H, et al. Toward autonomous aircraft piloting by a humanoid robot: Hardware and control algorithm design[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway: IEEE Press, 2016: 398-403.
|
| [19] |
JEONG H, KIM J, SHIM D H. Development of an optionally piloted vehicle using a humanoid robot[C]//Proceedings of the 52nd Aerospace Sciences Meeting. Reston: AIAA, 2014.
|
| [20] |
JEONG H, SHIM D H, CHO S. A Robot-Machine Interface for full-functionality automation using a humanoid[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway: IEEE Press, 2014: 4044-4049.
|
| [21] |
KUMAR V, YONG H, MIN D, et al. Auto landing control for small scale unmanned helicopter with flight gear and HILS[C]//5th International Conference on Computer Sciences and Convergence Information Technology. Piscataway: IEEE Press, 2011: 676-681.
|
| [22] |
黄华, 徐幼平, 邓志武. 基于Flightgear模拟器的实时可视化飞行仿真系统[J]. 系统仿真学报, 2007, 19(19): 4421-4423. doi: 10.16182/j.cnki.joss.2007.19.020
HUANG H, XU Y P, DENG Z W. Real-time visual flight simulation system based on flightgear simulator[J]. Journal of System Simulation, 2007, 19(19): 4421-4423(in Chinese). doi: 10.16182/j.cnki.joss.2007.19.020
|
| [23] |
杨一栋. 直升机飞行控制[M]. 第2版. 北京: 国防工业出版社, 2011: 108-109.
YANG Y D. Helicopter flight control[M]. 2nd ed. Beijing: National Defense Industry Press, 2011: 108-109 (in Chinese).
|
Figures(11)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
