直升机遭遇发动机失效后，需迅速恢复旋翼转速，并将其维持在转速稳定的稳态自转状态。为实现该过程的自主控制，首先基于轻型直升机稳态自转状态的扫频试飞数据，分析了总距通道的操纵特性，发现了旋翼转速响应对于总距操纵输入的显著滞后现象，证明了传统转速反馈的总距控制策略存在诱发系统振荡风险。其次，基于叶素理论分析，指出了传统转速反馈策略存在没有对气流迎角进行显式调控的问题，在此基础上提出了垂向速度反馈策略及内环垂向速度反馈-外环转速反馈的复合控制架构，并从传递函数的角度证明了上述复合架构的有效性。随后，基于桨盘平面法及动态入流建立了适用于发动机失效情况的UH-1H直升机飞行力学模型，并对稳态自转状态的总距操纵响应进行了仿真分析，验证了对象直升机旋翼转速的反向初始响应特性及相位滞后特性。最后，基于所建立的飞行动力学模型，开展了稳态自转进入与抗扰动仿真，对比分析了开环放总距、传统转速反馈、提出的垂向速度反馈、内外环反馈4种策略的性能。仿真结果表明，提出的内外环反馈策略克服了转速反馈易振荡的固有局限性，相比于单一的垂向速度反馈显著加速了旋翼动能恢复，且具备开环控制所欠缺的抗扰动能力。本研究为自转下滑自主控制器设计与稳态自转的可靠建立提供了新思路。

Following helicopter engine failure， rapid rotor speed recovery and maintenance of a stable steady-state autorotation condition are essential. To achieve autonomous control of this process， this study first analyzed the collective pitch control characteristics based on sweep-frequency flight test data from a light helicopter in steady-state autorotation. The results revealed a significant phase lag in the rotor speed response to collective pitch inputs， demonstrating that conventional rotor speed feedback strategies carry an inherent risk of inducing system oscillations. Second， based on blade element theory analysis， it was identified that conventional rotor speed feedback strategies lack explicit regulation of the airflow angle of attack. Building on this insight， a vertical velocity feedback strategy was proposed， along with a composite control architecture integrating inner-loop vertical velocity feedback and outer-loop rotor speed feedback. The effectiveness of this composite architecture was further verified from a transfer function perspective. Subsequently， a flight dynamics model applicable to engine failure scenarios was established for the UH-1H helicopter， incorporating rotor disk modeling and dynamic inflow theory. Simulation analysis of the collective pitch response in steady-state autorotation validated the characteristic reverse initial response and phase lag of the rotor speed for the studied helicopter. Finally， simulations for steady-state autorotation entry and disturbance rejection were conducted based on the developed model， comparing the performance of four control strategies： open-loop collective reduction， conventional rotor speed feedback， the proposed vertical velocity feedback， and the dual-loop feedback strategy. The results indicate that the proposed dual-loop feedback strategy overcomes the inherent oscillatory limitations of rotor speed feedback， significantly accelerates rotor kinetic energy recovery compared to single-loop vertical velocity feedback， and provides disturbance rejection capability absent in open-loop control. This study offers new insights for the design of autonomous controllers in autorotation descent and the reliable establishment of steady-state autorotation.