复合式高速无人直升机飞行动力学建模与控制策略设计

doi:10.7527/S1000-6893.2024.29848

Abstract

Abstract:

The compound high-speed unmanned helicopter consists mainly of the aerodynamic components such as rotor， wing， propeller， fuselage， and horizontal & vertical tails. Aerodynamic interferences between components can be complex and vary rapidly with the forward flight speed. To achieve a high level of model confidence， it is necessary to correct the flight dynamics model parameters according to the forward flight speed. Besides， the flight control scheme must be adjusted accordingly to achieve stable and controllable flight throughout the entire speed envelope. A model for the flight dynamics of the compound high-speed unmanned helicopter is presented. The model is corrected based on wind tunnel trimming tests to enhance the confidence of the mathematical model. At the trimming point， the non-linear dynamics model is linearized to obtain the evolution of the open-loop dynamics with the forward flight speed. The effect of the control augmentation system on the closed-loop steering stability performance is also evaluated. Based on the classical control approach， a set of practical feed-forward compensation， loop weighting， and control allocation schemes are designed considering the lift， thrust， and yaw characteristics of the compound high-speed unmanned helicopter. Simulation and test flight verification are carried out to confirm the effectiveness of these schemes. The results show that the proposed nonlinear dynamic model has high confidence， and the consistency between the trim results of the mathematical model and wind tunnel tests is good. The distribution of eigenvalues of the high/low-order linear models is basically consistent and the maneuver response characteristics are in good agreement with the nonlinear dynamic model. The flight simulation preliminarily validates the effectiveness of the compound scheme for lift， thrust， and yaw. The successful flight test of the first 300 kg prototype in China validates the compound flight control scheme in hover and low-speed flight.

Key words: compound high-speed helicopter, flight dynamics, wind tunnel test, control scheme, flight simulation, flight test

CLC Number:

V249.122

Bowen NIE, Liangquan WANG, Zhiyin HUANG, Long HE, Shipeng YANG, Hongtao YAN, Guichuan ZHANG. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529848-529848.

Figures/Tables 28

Fig.1

Table 1

Table 2

Control surfaces of compound high-speed unmanned helicopter

舵面	数值	舵面	数值
$Ω Ω P$ /（r·min^-1）	880/4 000	$δ c o l P$ /（°）	-15~40
$δ c o l$ /（°）	0~12	$δ p e d P$ /（°）	-15~40
$δ l o n$ /（°）	-8~8	$δ r$ /（°）	-30~30
$δ l a t$ /（°）	-8~8

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Fig.18

Fig.19

Table 3

Definition of flight control modes

控制通道	控制模式	控制回路
垂向通道	1—爬升速度控制	$h ˙ ← δ c o l$
垂向通道	2—高度保持	$h ← δ c o l$
纵向通道	1—俯仰角控制	$θ ← δ l o n$
	2—前飞速度控制	$θ ← δ l o n, u ← δ c o l P$
	3—悬停位置粗调	$θ ← δ l o n, Δ x ← δ c o l P$
	4—悬停位置精调	$Δ x ← θ ← δ l o n$
横向通道	1—滚转角控制	$ϕ ← δ l a t$
	2—侧向速度控制	$v ← ϕ ← δ l a t$
	3—悬停位置控制	$Δ y ← ϕ ← δ l a t$
	4—航迹角控制	$χ ← ϕ ← δ l a t$
	5—侧偏位移控制	$y ← ϕ ← δ l a t$
航向通道	1—前飞偏航角控制	$ψ ← δ p e d P, ψ ← δ r$
航向通道	2—前飞侧滑角控制	$β ← δ p e d P, β ← δ r$

Table 3

Fig.20

Fig.21

Fig.22

Fig.23

Fig.24

Fig.25

References 40

1	RAND O， KHROMOV V. Compound helicopter： Insight and optimization［J］. Journal of the American Helicopter Society， 2015， 60（1）： 1-12.
2	吴希明. 高速直升机发展现状、趋势与对策［J］. 南京航空航天大学学报， 2015， 47（2）： 173-179.
	WU X M. Current status， development trend and countermeasure for high-speed rotorcraft［J］. Journal of Nanjing University of Aeronautics & Astronautics， 2015， 47（2）： 173-179 （in Chinese）.
3	黄明其，徐栋霞，何龙，等. 常规旋翼构型复合式高速直升机发展概况及关键技术［J］. 航空动力学报， 2021， 36（6）： 1156-1168.
	HUANG M Q， XU D X， HE L， et al. Development overview and key technologies of high speed hybrid helicopter with single main rotor［J］. Journal of Aerospace Power， 2021， 36（6）： 1156-1168 （in Chinese）.
4	YEO H. Design and aeromechanics investigation of compound helicopters［J］. Aerospace Science and Technology， 2019， 88： 158-173.
5	THIEMEIER J， ÖHRLE C， FREY F， et al. Aerodynamics and flight mechanics analysis of Airbus Helicopters’ compound helicopter RACER in hover under crosswind conditions［J］. CEAS Aeronautical Journal， 2020， 11（1）： 49-66.
6	ÖHRLE C， FREY F， THIEMEIER J， et al. Coupled and trimmed aerodynamic and aeroacoustic simulations for Airbus Helicopters’ compound helicopter RACER［J］. Journal of the American Helicopter Society， 2019， 64（3）： 032003.
7	FAUST J A， JUNG Y S， BAEDER J， et al. Interactional aerodynamic analysis of an asymmetric lift-offset compound helicopter in forward flight［J］. Journal of the American Helicopter Society， 2021， 66（3）： 032011.
8	YANG K L， HAN D， SHI Q P. Study on the lift and propulsive force shares to improve the flight performance of a compound helicopter ［J］. Chinese Journal of Aeronautics， 2022， 35（1）： 365-375.
9	STOKKERMANS T， VELDHUIS L， SOEMARWOTO B， et al. Breakdown of aerodynamic interactions for the lateral rotors on a compound helicopter［J］. Aerospace Science and Technology， 2020， 101： 105845.
10	FREY F， THIEMEIER J， ÖHRLE C， et al. Aerodynamic interactions on Airbus Helicopters’ compound helicopter RACER in hover［J］. Journal of the American Helicopter Society， 2022， 67（1）： 012007.
11	WANG M S， WANG Y Y， CAO Y H， et al. Numerical simulation of aerodynamic interaction effects in coaxial compound helicopters［J］. Fluid Dynamics & Materials Processing， 2023， 19（5）： 1301-1315.
12	FERGUSON K， THOMSON D. Flight dynamics investigation of compound helicopter configurations［J］. Journal of Aircraft， 2015， 52（1）： 156-167.
13	FERGUSON K， THOMSON D. Examining the stability derivatives of a compound helicopter［J］. The Aeronautical Journal， 2017， 121（1235）： 1-20.
14	YU Z M， KONG W H， CHEN R L. Research on trim control of compound high speed helicopter［J］. Transactions of Nanjing University of Aeronautics and Astronautics， 2019， 36（3）： 449-458.
15	CAO Y H， WANG M S， LI G Z. Flight dynamics modeling， trim， stability， and controllability of coaxial compound helicopters［J］. Journal of Aerospace Engineering， 2021， 34（6）： 0001342.
16	ZHAO Y Q， YUAN Y， CHEN R L. Influence of differential longitudinal cyclic pitch on flight dynamics of coaxial compound helicopter［J］. Chinese Journal of Aeronautics， 2023， 36（9）： 207-220.
17	YUAN Y， THOMSON D， CHEN R L， et al. Heading control strategy assessment for coaxial compound helicopters［J］. Chinese Journal of Aeronautics， 2019， 32（9）： 2037-2046.
18	ZHENG F Y， XIONG B W， ZHANG J Y， et al. Improved neural network adaptive control for compound helicopter with uncertain cross-coupling in multimodal maneuver［J］. Nonlinear Dynamics， 2022， 108（4）： 3505-3528.
19	WU M L W， CHEN M. Nonlinear modeling and flight validation of a small-scale compound helicopter［J］. Applied Sciences， 2019， 9（6）： 1087.
20	REDDINGER J P， GANDHI F. Physics-based trim optimization of an articulated slowed-rotor compound helicopter in high-speed flight［J］. Journal of Aircraft， 2015， 52（6）： 1756-1766.
21	REDDINGER J P， GANDHI F， KANG H. Using control redundancy for power and vibration reduction on a compound helicopter at high speeds［J］. Journal of the American Helicopter Society， 2018， 63（3）： 032009.
22	DATTA A， YEO H， NORMAN T R. Experimental investigation and fundamental understanding of a full-scale slowed rotor at high advance ratios［J］. Journal of the American Helicopter Society， 2013， 58（2）： 022004.
23	SEKULA M K， GANDHI F. Effects of auxiliary lift and propulsion on helicopter vibration reduction and trim［J］. Journal of Aircraft， 2004， 41（3）： 645-656.
24	GANDHI F， SEKULA M K. Helicopter vibration reduction using fixed-system auxiliary moments［J］. AIAA Journal， 2004， 42（3）： 501-512.
25	THORSEN A T， HORN J F， OZDEMIR G T. Use of redundant controls to enhance transient response and handling qualities of a compound rotorcraft ［C］∥70th American Helicopter Society International Annual Forum 2014. Washington， D.C.： American Helicopter Society International， Inc.， 2014.
26	OZDEMIR G T， HORN J F， THORSEN A T. In-flight multi-variable optimization of redundant controls on a compound rotorcraft： AIAA-2013-5165［R］. Reston： AIAA， 2013.
27	OZDEMIR G T， HORN J F. Simulation analysis of a flight control law with in-flight performance optimization［C］∥68th American Helicopter Society International Annual Forum 2012. Washington， D.C.： American Helicopter Society International， Inc.， 2012.
28	高子义. 复合式高速直升机飞行动力学建模与控制策略研究［D］. 南京：南京航空航天大学， 2021.
	GAO Z Y. Research on flight dynamics model and control strategy of compound high-speed helicopter［D］.Nanjing： Nanjing University of Aeronautics and Astronautics， 2021 （in Chinese）.
29	曹燕. 复合式高速直升机飞行动力学建模与控制技术研究［D］. 南京：南京航空航天大学， 2018.
	CAO Y. Research on flight dynamics modeling and control technology for compound high-speed helicopter［D］.Nanjing： Nanjing University of Aeronautics and Astronautics， 2018 （in Chinese）.
30	杨洋. 复合式高速无人直升机飞行力学建模及操纵策略研究［D］. 南京：南京航空航天大学， 2021.
	YANG Y. Research on flight dynamics and manipulation strategy of compound high speed helicopter［D］.Nanjing： Nanjing University of Aeronautics and Astronautics， 2021 （in Chinese）.
31	邓柏海，徐锦法. 复合式无人直升机姿态自抗扰控制［J］. 北京航空航天大学学报， 2023， 49（11）： 3100-3107.
	DENG B H， XU J F. Active disturbance rejection control of attitude of compound unmanned helicopter［J］. Journal of Beijing University of Aeronautics and Astronautics， 2023， 49（11）： 3100-3107 （in Chinese）.
32	曹宇燕，金鑫，彭永涛，等. 基于最优分配的复合式高速无人直升机纵向控制设计与验证［J］. 航空科学技术， 2023， 34（11）： 75-80.
	CAO Y Y， JIN X， PENG Y T， et al. Longitudinal control design and verification of compound high speed unmanned helicopter based on optimal allocation［J］. Aeronautical Science & Technology， 2023， 34（11）： 75-80 （in Chinese）.
33	TALBOT P D， TINLING B E， DECKER W A， et al. A mathematical model of a single main rotor helicopter for piloted simulation： NASA-TM-84281［R］. Washington， D.C.： NASA， 1982.
34	陈仁良，李攀，吴伟，等. 直升机飞行动力学数学建模问题［J］. 航空学报， 2017， 38（7）： 520915.
	CHEN R L， LI P， WU W， et al. A review of mathematical modeling of helicopter flight dynamics［J］. Acta Aeronautica et Astronautica Sinica， 2017， 38（7）： 520915 （in Chinese）.
35	CHEN R T N. Effects of primary rotor parameters on flapping dynamics： NASA-TP-1431［R］. Washington， D.C.： NASA， 1980.
36	PITT D M， PETERS D A. Theoretical prediction of dynamic-inflow derivatives［J］. Vertica， 1981， 5（1）： 21-34.
37	CHEN R T N. A simplified rotor system mathematical model for piloted flight dynamics simulation： NASA-TM-78575［R］. Washington， D.C.： NASA， 1979.
38	张铮，陈仁良. 倾转旋翼机旋翼/机翼气动干扰理论与试验［J］. 航空学报， 2017， 38（3）： 120196.
	ZHANG Z， CHEN R L. Theory and test of rotor/wing aero-interaction in tilt-rotor aircraft［J］. Acta Aeronautica et Astronautica Sinica， 2017， 38（3）： 120196 （in Chinese）.
39	FERGUSON S W. Development and validation of a simulation for a generic tilt-rotor aircraft： NASA-CR-166537［R］. Washington， D.C.： NASA， 1989.
40	吴伟. 直升机飞行动力学模型辨识与机动飞行研究［D］. 南京：南京航空航天大学， 2010.
	WU W. Identification of helicopter flight dynamics model and investigation on maneuver flight［D］.Nanjing： Nanjing University of Aeronautics and Astronautics， 2010 （in Chinese）.

部件	参数	数值
全机	起飞质量/kg	300
全机	机体尺寸（长×宽×高）/（m×m×m）	3.4×2.3×1.5
旋翼	直径/m	4.3
旋翼	桨叶数量/片	2
螺旋桨	直径/m	0.82
螺旋桨	桨叶数量/片	3

[1]	Pengpeng SUN, Ping’an LIU, Feng FAN, Wei ZENG. Aerodynamic interaction characteristics of coaxial rigid rotor⁃fuselage in hover condition [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529284-529284.
[2]	Chang WANG, Long HE, Dongxia XU, Min TANG, Shuai MA, Ximing WU. Flow control drag reduction of hub on coaxial rigid rotor aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529084-529084.
[3]	Weiguo ZHANG, Min TANG, Jie WU, Xianmin PENG, Guichuan ZHANG, Bowen NIE, Liangquan WANG, Chaoqun LI. Overview of wind tunnel test research on tiltrotor aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 530114-530114.
[4]	Shengxiang TONG, Zhiwei SHI, Xi GENG, Lishuang WANG, Zhikun SUN, Qichang CHEN. Combinable samara aircraft and controlled separation technique [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629590-629590.
[5]	Qichang CHEN, Zhiwei SHI, Weiyuan ZHANG, Linglong YAO, Shengxiang TONG. Aerodynamic layout and control strategy design and flight verification of a wing⁃foldable variant VTOL aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629583-629583.
[6]	Chao AN, Guixi HUO, Yang MENG, Changchuan XIE, Chao YANG. Aerodynamic modeling methods and influence of layout parameters for wingtip⁃hinged multi⁃body combined UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629587-629587.
[7]	Liu LIU, Xianhong XIANG, Yufei ZHANG, Haixin CHEN, Chuang WEI, Jian ZHU, Pu YANG. A high lift-to-drag ratio unconventional blended-wing-body aerodynamic configuration with swallow tail [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629630-629630.
[8]	Haixing LI, Feng ZHOU, Wei YAN, Feng BAI, Keliang ZHAO. Effects of roughness ice on aerodynamic performance of civil aircraft horizontal tail [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 128657-128657.
[9]	Guochi GAO, Bo ZHANG, Jingze QUAN, Chong YIN, Li DING, Yubiao JIANG. Airworthiness certification technology of normal aircraft natural icing flight test [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 128531-128531.
[10]	Wenlong LI, Bo WU, Shuai XIE. Technology of wing load measurement for wing-body integrated structure with landing gear layout [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 229525-229525.
[11]	Lingsong XU, Yuan WU, Dongyu ZHU, Fukun ZHANG, Yu LIU. A wing pitch oscillation mechanism for FL⁃61 icing wind tunnel [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729296-729296.
[12]	Guanmian LIU, Fan ZHANG, Zhihang CHENG, Kangzhi YANG, Hejun QIN. Installation location of cloud combination probe for multi⁃engine propeller aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729295-729295.
[13]	Yu LIU, Mengjie QIN, Qiang WANG, Xian YI. Scaling law for salty sea spray icing wind tunnel test [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729297-729297.
[14]	Qiuming YANG, Yongfeng ZHU, Huawei CHEN, Xiaolin LIU. Anti-icing performance test investigation on hollowed patterning electric heating module [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729334-729334.
[15]	Shiqi GAO, Bo DING, Xuzhen XIE, Zheng LI, Lin CHEN, Shouyuan QIAN, Zihan JIAO, Guanghui BAI. Drag reduction mechanism using plasma synthetic jet in high⁃speed flow [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729373-729373.

Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 28

References 40

Related Articles 15

Recommended Articles

Metrics

Comments