【摘要】 为满足无人直升机在视距范围内的快速操纵能力和紧急处置能力的要求，针对无人直升机飞行控制中的操纵杆控制展开研究。首先，梳理出操纵杆应具备的功能及要求，在此基础上提出姿态模式和GPS混控模式2种控制模式，并阐述操纵杆的杆量定义。与此同时，为了降低直升机轴间耦合并减轻操纵人员负担，采用了基于逆模型的显模型跟踪控制设计操纵杆控制系统，在此基础上通过引入横纵向的微分项形成前馈控制，提高系统响应速度。最后，对4个操纵通道分别进行解耦仿真验证，并且对二阶系统的操纵通道进行跟踪响应仿真验证，仿真结果及性能分析结果表明，该控制系统具有良好的解耦特性和跟踪性能，可以满足无人直升机的人工操纵控制需求。更多还原

【Abstract】 This paper focuses on the research of joystick control in unmanned helicopter flight control to meet the requirements of maneuvering and emergency response capabilities.Firstly, the functional requirements of the joystick are outlined.Based on this, two control modes, attitude mode and GPS hybrid mode, are proposed, and the functional definition of the joystick is explained.In order to reduce the coupling between helicopter shafts and alleviate the burden on operators, a joystick control system based on explicit model tracking control based on inversemodel was designed.On this basis, feedforward control is achieved by introducing horizontal and vertical differential terms to improve system response speed.Finally, decoupling simulation verification was performed on each of the four control channels, and tracking response simulation verification was performed on the control channels of the second-order system.The simulation and performance analysisresults show that the control system has good decoupling characteristics and tracking performance, and can meet the manual control requirements of unmanned helicopters.更多还原