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Abstract

The paper presents the results of simulation method for prediction of helicopter H-V zone envelope in the case of engine power loss. Depending on the loss rate of available power, the emergency maneuver for flight continuation is calculated, or the autorotation landing is predicted. The realization of an airborne device with in-built calculating procedure and graphic presentation of H-V zone predicted limits can improve safety level of helicopter flight, and can cue the pilot to make proper decision in emergency conditions. The results of emergency maneuver simulation were verified by comparing them with flight tests of Mi-2Plus helicopter for partial power unit failure, and with records of SW-4 helicopter autorotation landing. The operation of measurement-recording module, which consists of GPS receiver, inertial measurement unit and a computer of PC-104 standard, was checked during flight tests of a radio-controlled helicopter model.
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Abstract

This paper presents a robust control technique for small-scale unmanned helicopters to track predefined trajectories (velocities and heading) in the presence of bounded external disturbances. The controller design is based on the linearized state-space model of the helicopter. The multivariable dynamics of the helicopter is divided into two subsystems, longitudinallateral and heading-heave dynamics respectively. There is no strong coupling between these two subsystems and independent controllers are designed for each subsystem. The external disturbances and model mismatch in the longitudinal-lateral subsystem are present in all (matched and mismatched) channels. This model mismatch and external disturbances are estimated as lumped disturbances using extended disturbance observer and an extended disturbance observer based sliding mode controller is designed for it to counter the effect of these disturbances. In the case of heading-heave subsystem, external disturbances and model mismatch only occur in matched channels so a second order sliding mode controller is designed for it as it is insensitive to matched uncertainties. The control performance is successfully tested in Simulink.
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