直升机人机协同控制方法研究与飞行验证

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.