考虑锥体约束的旋翼振动闭环控制及试验

王传达; 金坤健; 喻国瑞; 黄国科; 王刚; 彭海军

doi:10.7527/S1000-6893.2025.32096

航空学报 >

2026 , Vol. 47 >Issue 2: 232096 - 232096

DOI: https://doi.org/10.7527/S1000-6893.2025.32096

固体力学与飞行器总体设计

考虑锥体约束的旋翼振动闭环控制及试验

王传达 ,
金坤健 ,
喻国瑞 ,
黄国科 ,
王刚 ,
彭海军

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^1.大连理工大学力学与航空航天学院，大连 116024
^2.大连理工大学工业装备结构分析优化与CAE软件全国重点实验室，大连 116024
^3.中国直升机设计研究所，景德镇 333001
^4.大连理工大学化工海洋与生命学院，盘锦 124221

E-mail： hjpeng@dlut.edu.cn

收稿日期: 2025-04-09

修回日期: 2025-05-28

录用日期: 2025-07-01

网络出版日期: 2025-07-15

基金资助

国家自然科学基金(U2241263);国家自然科学基金(12402042);中国博士后科学基金(2024M750310)

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Closed-loop control and experimental study of rotor vibration considering track constraints

Chuanda WANG ,
Kunjian JIN ,
Guorui YU ,
Guoke HUANG ,
Gang WANG ,
Haijun PENG

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^1.School of Mechanics and Aerospace Engineering，Dalian University of Technology，Dalian 116024，China
^2.State Key Laboratory of Structural Analysis，Optimization and CAE Software for Industrial Equipment，Dalian University of Technology，Dalian 116024，China
^3.China Helicopter Research and Development Institute，Jingdezhen 333001，China
^4.School of Chemical Engineering，Ocean and Life Sciences，Dalian University of Technology，Panjin 124221，China

E-mail： hjpeng@dlut.edu.cn

Received date: 2025-04-09

Revised date: 2025-05-28

Accepted date: 2025-07-01

Online published: 2025-07-15

Supported by

National Natural Science Foundation of China(U2241263);China Postdoctoral Science Foundation(2024M750310)

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摘要

针对桨叶不相似导致的旋翼1/rev低频振动过大、旋翼锥体偏离等问题，发展了一种考虑旋翼锥体约束的旋翼振动闭环控制算法。首先，建立了基于柔性桨叶的旋翼气弹耦合模型，设定参数模拟工程中桨叶的不相似性，从而产生锥体偏离现象和振动不平衡特性；其次，以旋翼振动谐波分量为控制目标，单片桨叶的总距变化量为控制输入，锥体偏离值作为约束条件，构造一组约束优化问题，进而求解得到最优控制量；然后，通过数值仿真，对比了无锥体约束的控制算法，仿真结果表明在加入锥体约束后，不仅仍然能够大幅降低低频振动幅值，而且能够将锥体偏差值约束到设定范围内，证明了约束控制算法的有效性；最后，通过试验验证，建立旋翼系统试验平台，将控制算法改编为Simulink模型，结合相应的硬件设备，搭建软硬件架构，执行不同飞行状态下的控制算法，试验结果表明均可以将振动降低60%以上，锥体偏差值也限制在设定值附近，最高降低73%。

关键词： 旋翼气弹建模; 闭环振动控制; 旋翼锥体与动平衡调整; 实时化仿真; 旋翼塔实验

本文引用格式

王传达 , 金坤健 , 喻国瑞 , 黄国科 , 王刚 , 彭海军 . 考虑锥体约束的旋翼振动闭环控制及试验[J]. 航空学报, 2026 , 47(2) : 232096 -232096 . DOI: 10.7527/S1000-6893.2025.32096

Abstract

To address issues such as excessive 1/rev low-frequency vibration of the rotor and track split caused by blade dissimilarity， a closed-loop vibration control algorithm for rotors based on blade track constraints was developed. Firstly， a rotor aeroelastic coupling model with flexible blades was established， with parameters set to simulate the dissimilarity of blades in engineering applications， thereby generating track split phenomena and vibration imbalance characteristics. Secondly， taking the harmonic components of rotor vibration as the control objective， the collective pitch variation of individual blades as the control input， and the track difference as the constraint condition， a set of constrained optimization problems was constructed to solve for the optimal control inputs. Then， through numerical simulations， the control algorithm without track constraints was compared， and the results demonstrate that introducing track constraints not only significantly reduced the amplitude of low-frequency vibrations but also confined the track difference within a specified range， verifying the effectiveness of the constrained control algorithm. Finally， further experimental validation was conducted by establishing a rotor system test platform， adapting the control algorithm into a Simulink model， and integrating corresponding hardware devices to build a software-hardware architecture. Execution of the control algorithm under different flight conditions shows that vibrations were reduced by over 60% in all cases， with track differences constrained near the set value and achieving a maximum reduction of 73%.

Key words： rotor aeroelastic modeling; closed-loop vibration control; rotor track and balance adjustment; real-time simulation; rotor tower experiment

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