高速直升机过渡模态鲁棒自适应姿态控制

doi:10.7527/S1000-6893.2024.29927

Abstract

Abstract:

During the transition mode， high-speed helicopters possess typical characteristics of control redundancy and control non-affine， and there is a significant effect of aerodynamic interference and uncertainties on the control effectiveness matrix， bringing challenges to attitude control design. This paper proposes a robust adaptive control architecture to address the attitude control problem of the high-speed helicopter in transition flight. Based on the dynamic model of the high-speed helicopter， the control characteristics of its control surfaces are analyzed using control efficiency， and an attitude control strategy of transition mode is developed. Furthermore， an Adaptive Filtered Incremental Nonlinear Dynamic Inversion （AFINDI） control method is proposed to design an angular rate controller， which can effectively compensate for the adverse effects caused by control effectiveness matrix uncertainties and angular acceleration measurement/estimation errors. Then， according to the changing control authorities of coaxial rotors and empennages， an incremental allocation strategy with the weight coefficients of control surfaces is established to guarantee smooth conversion between helicopter and fixed-wing control modes in transition flight. Finally， compared with the conventional incremental nonlinear dynamic inversion control method， the proposed attitude controller has better control performance and robustness.

Key words: high-speed helicopter, transition mode, attitude control, adaptive control, incremental nonlinear dynamic inversion control

CLC Number:

V249.1

Yuqing QIU, Yan LI, Jinxi LANG, Yuxian LIU, Zhong WANG. Robust adaptive attitude control of high-speed helicopters in transition mode[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529927.

Figures/Tables 21

Fig.1

Table 1

Table 2

Control surfaces and position limitation of high-speed helicopter

操纵变量	位置限制/（°）
总距 $θ 0$	［0，20］
总距差动 $θ d$	［-5，5］
横向周期变距 $θ 1 c$	［-6.25，6.25］
纵向周期变距 $θ 1 s$	［-10，10］
尾推桨桨距 $θ p$	［10，100］
升降舵 $δ e$	［-20，20］
方向舵 $δ r$	［-20，20］

Table 2

Table 3

Fig.2

Table 4

Attitude control strategy of high-speed helicopter in all modes

飞行模态

滚转通道

俯仰通道

航向通道

直升机模态

横向周期变距

纵向周期变距

总距差动

过渡模态

纵向周期变距

↔

升降舵

总距差动

$↔$ 方向舵

固定翼模态

升降舵

方向舵

Table 4

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

Table 5

Comparison of control performance

控制性能		情况1	情况2	情况3
控制性能		INDI	AFINDI
RMS	$ϕ$	0.189	0.047	0.061
	$θ$	0.961	0.926	0.927
	$ψ$	0.945	0.922	0.924
Cost		1 744.3	501.9	504.3

Table 5

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机体参数	数值
全机质量/kg	5 500
旋翼半径/m	5.49
旋翼桨叶片数	3×2
旋翼转速/（rad·s^-1）	35.9~28.7
重心位置/m	（0，0，0）
下旋翼位置/m	（0，0，-0.89）
上、下旋翼间隙/m	0.77
尾推桨半径/m	1.3
尾推桨叶片数	6
尾推桨转速/（rad·s^-1）	162
尾推桨位置/m	（-7.66，0，0）
平尾面积/m²	5.57
平尾位置/m	（-6.8，0，0.2）
垂尾面积/m²	2.79
垂尾位置/m	（-6.8，0，-0.5）

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Robust adaptive attitude control of high-speed helicopters in transition mode

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Figures/Tables 21

References 30

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操纵机构	带宽/Hz	速率限制/（（°）·s^-1）
共轴双旋翼	8	40
尾推桨	4	10
升降舵	8	80
方向舵	8	70