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首页> 外文期刊>Journal of the American Helicopter Society >Real-Time Trajectory Generation and Reachability Determination in Autorotative Flare
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Real-Time Trajectory Generation and Reachability Determination in Autorotative Flare

机译：自动触发器中的实时轨迹产生和可达性测定

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摘要

Autorotation maneuvers inherently offer little margin for error in execution and induce high pilot workload, particularly as the aircraft nears the ground in an autorotative flare. Control augmentation systems may potentially reduce pilot workload while simultaneously improving the likelihood of a successful landing by offering the pilot appropriate cues. This paper presents an initial investigation of a real-time trajectory generation scheme for autorotative flare based on time-to-contact theory. The algorithm exhibits deterministic runtime performance and provides a speed trajectory that can be tracked by a pilot or inner-loop controller to bring the vehicle to a desired landing point at the time of touchdown. A low-order model of the helicopter dynamics in autorotation is used to evaluate dynamic feasibility of the generated trajectories. By generating and evaluating trajectories to an array of candidate landing points, the set of reachable landing points in front of the aircraft is determined. Simulation results are presented in which the trajectory generator is coupled with a previously derived autorotation controller. Example cases and trade studies are conducted in a six degree-of-freedom simulation environment to demonstrate overall performance as well as robustness of the algorithm to variations in target landing point, helicopter gross weight, and winds. The robustness of the reachability determination portion of the algorithm is likewise evaluated through trade studies examining off-nominal flare entry conditions and the effects of winds.
机译：自动操作动作固有地为执行中的错误提供很少的余量，并诱导高的导频工作量，特别是当飞机在自动喇叭口附近地面时。控制增强系统可能会降低导频工作量，同时通过提供适当的提示，同时提高成功着陆的可能性。本文介绍了基于时间 - 接触时间理论的自动变速器实时轨迹生成方案的初步研究。该算法展示了确定性运行时性能，并提供了一种速度轨迹，可以由飞行员或内环控制器跟踪，以使车辆在触阵时的期望着陆点。在自动运输中的直升机动力学的低阶模型用于评估所生成的轨迹的动态可行性。通过产生和评估轨迹到候选阵列的阵列，确定飞机前面的可达着陆点。提出了仿真结果，其中轨迹发生器与先前推导的自动控制控制器耦合。示例案例和贸易研究是在六个自由度的模拟环境中进行的，以展示整体性能以及算法的稳健性，以目标着陆点，直升机毛重和风的变化。通过检查偏出标称喇叭口条件和风的影响，同样通过贸易研究评估算法的可达性确定部分的鲁棒性。

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