Design of Hovering Turn Maneuver Flight Control Law for Medium Unmanned Helicopters
Hovering Turn is a standard maneuver flight subject for helicopters,which can comprehen-sively test the control performance of each channel of the helicopter.A control law design method was pro-posed to enhance the stability and rapidity during flight for attitude control and speed control in the cen-tripetal rotation maneuver of medium-sized unmanned helicopters.Firstly,according to the ADS-33E-PRF,the control command of hovering turn maneuver was designed.Subsequently,based on the channel control structure connected in series with the inner and outer loops,the helicopter sliding mode control law was de-rived,and a sliding mode controller for the attitude inner loop was designed.Compared with the PID con-troller,better attitude stabilization effect and faster response speed were obtained.Finally,through simula-tion experiments on a semi physical simulation system,combined with the indicators of hovering turn ma-neuver,it was verified that the designed method can effectively complete the hovering turn maneuver and meet satisfactory standards.
helicopter controlmaneuver flightsliding mode controlcontrol law design
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