Improved clutch engagement control method for unmanned helicopter

In light of the former method's shortcoming, a new method was explored to improve clutch engagement quality. The clutch control requirements were determined based on the dynamics characteristic research of an unmanned helicopter clutch and the analysis of the effect of clutch engagement process on transmission impact and belt life. The rotating speed of clutch driving pulley and driven pulley were selected as basic input parameters. Ideal rotating speed curves were proposed. Three stages of engagement process adopted open-loop control, closed-loop control and open-loop control in turn. To realize the smooth and quick engagement, the closed-loop control adopted the combination of proportion integration differentiation (PID) control and fuzzy control. The experiments were conducted by using former control method and improved control method respectively. The results show that, as compared with former control method, the engagement time of improved control method shortens 1.5 times, the maximum jerk decreases 3 times, and the sliding friction work decreases twice. These prove that the improved control method can improve clutch engagement quality.