阅读说明：本技术 纵列式直升机前飞控制方法及直升机 (Tandem helicopter front-flying control method and helicopter ) 是由 姜辰 王浩文 刘畅武 于 2019-11-20 设计创作，主要内容包括：本发明公开了一种纵列式直升机前飞控制方法及直升机,所述纵列式直升机前飞控制方法包括以下步骤：检测所述直升机的俯仰角；判断俯仰角的绝对值是否大于阈值；对所述直升机的前旋翼和后旋翼进行总距相同控制或总距差动控制；判断在总距差动控制时,所述前旋翼和所述后旋翼的总距是否相同。根据本发明的纵列式直升机前飞控制方法,可以对前旋翼和后旋翼的总距进行单独控制,进而实现直升机姿态和前飞速度的解耦,减少航向修正问题,从而更有利于降低飞行阻力和提高飞行效率。(The invention discloses a tandem helicopter and a control method for forward flight of the tandem helicopter, wherein the control method for forward flight of the tandem helicopter comprises the following steps: detecting a pitch angle of the helicopter; judging whether the absolute value of the pitch angle is larger than a threshold value; carrying out collective pitch identical control or collective pitch differential control on a front rotor and a rear rotor of the helicopter; and judging whether the collective pitch of the front rotor and the rear rotor is the same or not in the collective pitch differential control. According to the tandem helicopter forward flight control method, the total distance between the front rotor and the rear rotor can be independently controlled, so that the decoupling of the attitude and the forward flight speed of the helicopter is realized, the problem of course correction is reduced, and the reduction of flight resistance and the improvement of flight efficiency are facilitated.)

1. A tandem helicopter forward flight control method is characterized by comprising the following steps:

s1, detecting the pitch angle of the helicopter;

s2, judging whether the absolute value of the pitch angle is larger than a threshold value, if so, entering the step S4, if not, entering the step S3, and then entering the step S1 again;

s3, carrying out collective pitch identical control on a front rotor and a rear rotor of the helicopter, wherein when the helicopter is in the collective pitch identical control, the collective pitch manipulated variable of the front rotor is identical to the collective pitch manipulated variable of the rear rotor;

s4, carrying out collective differential control on the front rotor and the rear rotor, wherein when the helicopter is in the collective differential control, the collective control amount of the front rotor is larger than that of the rear rotor;

and S5, judging whether the collective pitch of the front rotor and the rear rotor is the same or not during the collective pitch differential control, if so, entering the step S3, and then entering the step S1 again, and if not, entering the step S4 again.

2. The tandem helicopter forward flight control method of claim 1, wherein when the pitch angle of the helicopter exceeds the threshold value, the collective differential control is used to adjust the pitch angle.

3. The tandem helicopter forward flight control method according to claim 1, wherein when the helicopters are in the collective pitch identical control, the control of the helicopters is achieved using a longitudinal cyclic pitch of rotors.

4. A tandem helicopter forward flight control method according to claim 3, wherein the longitudinal cyclic pitch of said rotor is used to control the forward flight speed of said helicopter.

5. A helicopter controlled by the tandem helicopter forward flight control method according to any one of claims 1 to 4.

6. A helicopter according to claim 5, characterized in that said front and rear rotors are distributed in tandem and are independently piloted.

7. A helicopter according to claim 5, characterized in that it further comprises: the total distance differential adjustment controller obtains a differential value of the total distance of the rotor wing through the set threshold value and the set pitch angle, and obtains the total distance control quantity of the rotor wing through the height controller.