飞行器驾驶机器人——一种面向有人飞行器的新型无人驾驶系统

金子博, 李道春, 向锦武

工程（英文） ›› 2023, Vol. 27 ›› Issue (8) : 242-253.

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PDF(4019 KB)
工程（英文） ›› 2023, Vol. 27 ›› Issue (8) : 242-253. DOI: 10.1016/j.eng.2022.10.018
研究论文
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飞行器驾驶机器人——一种面向有人飞行器的新型无人驾驶系统

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Robot Pilot: A New Autonomous System toward Flying Manned Aerial Vehicles

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摘要

飞行器驾驶机器人是指建立一套机器人系统来驾驶有人飞行器，从而形成一种新的无人飞行系统，充分发挥有人飞行器平台成熟度高、负载能力强和适航性等优点，显著扩展了无人飞行器的应用范围。本文详细讨论了飞行器驾驶机器人这一概念及其优点，并提出了一种针对有人直升机的直升机驾驶机器人。根据直升机操纵机构的操控特点设计了驾驶机器人伺服机构。对驾驶机器人伺服机构进行了运动学分析，并在此基础上建立了驾驶机器人飞行控制器的直接驱动控制方法，减少了机器人伺服过程的操纵延迟和控制误差。建立了驾驶机器人的配套地面站系统，实现了不同飞行模式下驾驶机器人系统的功能集成。最后，设计研制了一套直升机驾驶机器人样机，并将其安装在有人直升机上进行了飞行测试。测试结果表明，驾驶机器人能够独立驾驶直升机实现前飞、后飞、侧飞和转弯飞行，验证了直升机驾驶机器人的有效性。

Abstract

The robot pilot is a new concept of a robot system that pilots a manned aircraft, thereby forming a new type of unmanned aircraft system (UAS) that makes full use of the platform maturity, load capacity, and airworthiness of existing manned aircraft while greatly expanding the operation and application fields of UASs. In this research, the implementation and advantages of the robot pilot concept are discussed in detail, and a helicopter robot pilot is proposed to fly manned helicopters. The robot manipulators are designed according to the handling characteristics of the helicopter-controlling mechanism. Based on a kinematic analysis of the robot manipulators, a direct-driving method is established for the robot flight controller to reduce the time delay and control error of the robot servo process. A supporting ground station is built to realize different flight modes and the functional integration of the robot pilot. Finally, a prototype of the helicopter robot pilot is processed and installed in a helicopter to carry out flight tests. The test results show that the robot pilot can independently fly the helicopter to realize forward flight, backward flight, side flight, and turning flight, which verifies the effectiveness of the helicopter robot pilot.

关键词

直升机 / 飞行器驾驶机器人 / 飞行控制 / 无人系统

Keywords

Helicopter / Robot pilot / Flight control / Unmanned system

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金子博, 李道春, 向锦武. 飞行器驾驶机器人——一种面向有人飞行器的新型无人驾驶系统. Engineering. 2023, 27(8): 242-253 https://doi.org/10.1016/j.eng.2022.10.018

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