用于直升机在大气紊流中的旋翼状态反馈控制
收稿日期: 2016-06-17
修回日期: 2016-08-24
网络出版日期: 2016-09-12
基金资助
国家自然科学基金（51405227，11672128）
Rotor-state feedback control for helicopter in atmospheric turbulence
Received date: 2016-06-17
Revised date: 2016-08-24
Online published: 2016-09-12
Supported by
National Natural Science Foundation of China (51405227,11672128)
发展了一种集成旋翼状态反馈（Rotor-State Feedback，RSF）控制的飞行控制系统，以提升直升机在大气紊流环境中低速飞行时的飞行品质。基于经典显模型跟踪控制系统，对机体和旋翼状态反馈增益进行协同设计，以综合优化旋翼/机体耦合动稳定性和直升机在飞行品质相关频率范围（1~12 rad/s）内的紊流缓和能力。同时，设计了一个旋翼前馈控制以增强直升机的操纵响应特性。对直升机飞行品质的线性分析表明：RSF控制的引入能够在实现旋翼/机体耦合动稳定性控制的同时使滚转和俯仰通道的指令跟踪延迟时间分别降低21.87%和25.82%，扰动抑制带宽分别提升243.22%和72.56%。最后以飞行试验验证的高阶非线性飞行动力学模型进行数值模拟验证控制系统。结果表明：RSF控制的引入使直升机滚转、俯仰角速率对紊流响应的标准差分别降低55.68%和26.81%。集成RSF的控制系统能够提升直升机在紊流中的飞行品质。
吉洪蕾 , 陈仁良 , 李攀 . 用于直升机在大气紊流中的旋翼状态反馈控制[J]. 航空学报, 2017 , 38(5) : 120541 -120541 . DOI: 10.7527/S1000-6893.2016.0242
This paper develops a helicopter flight control system integrated with a Rotor-State Feedback (RSF) control law to improve helicopter flying qualities at low speed in turbulent atmospheric environment. Based on the baseline explicit model-following control system, the feedback gains of the body and rotor states are designed in synergy for comprehensive optimization of both the stability of the coupling rotor/fuselage dynamics and the turbulence alleviation in the interested frequency range of flying qualities (1-12 rad/s). Meanwhile, a feed-forward compensation design is added to improve the helicopter responsiveness to pilot controls. A linear analysis of the helicopter flying qualities shows that with the integration of the RSF control law, the stability of the coupling rotor/fuselage dynamics can be ensured, and the command tracking delay times of roll and pitch axes are reduced by 21.87% and 25.82% respectively, as well as the disturbance rejection bandwidths are improved by 243.22% and 72.56%. A high-order nonlinear flight dynamic model validated against flight test data is used to conduct a simulation to verify the integrated control system. Results show that with the integration of the RSF control law, the standard deviation of the helicopter roll and pitch rate responses to atmospheric turbulence are reduced by 55.68% and 26.81%, respectively. The flight control system integrated with the RSF control law has the capability to improve helicopter flying qualities in atmospheric turbulence.
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