基于鲁棒显模型跟踪的共轴高速直升机飞/发综合控制

doi:10.7527/S1000-6893.2026.32745

Abstract

Abstract:

Multiple flight modes and high maneuverability are typical characteristics of coaxial high-speed helicopters， making conventional separated flight/propulsion control strategies insufficient to satisfy high-performance control requirements. Meanwhile， the pronounced dynamic coupling across the entire flight envelope， together with strong external disturbances and time-varying flight characteristics， poses severe challenges to the robustness of control strategies. To address these issues， this paper proposes an integrated flight/propulsion control architecture based on Robust Explicit Model Following Control （REMFC）. First， based on the torque-speed relationships between the rotor and the engine， an integrated flight/propulsion simulation model is established， incorporating the coaxial helicopter， turboshaft engine， and transmission system. Subsequently， by reconstructing the feedforward-feedback structure of explicit model following control and introducing an Extended State Observer （ESO）， a robust explicit model following control strategy is developed. The proposed method achieves online estimation and compensation of unmodeled dynamics， aerodynamic disturbances， and parameter uncertainties， and the uniform boundedness of the closed-loop tracking error is theoretically guaranteed. Finally， based on the proposed REMFC strategy， an integrated flight/propulsion control law is designed to realize coordinated control and dynamic regulation of flight manipulation and engine speed. Multi-mission simulation results over the entire flight envelope demonstrate that the REMFC-based integrated control approach for coaxial high-speed helicopters outperforms conventional methods in reference command tracking， disturbance rejection， and rotor speed stabilization， significantly improving flight performance and robustness under complex flight conditions.

Key words: coaxial high-speed helicopter, robust control, explicit model tracking control, extended state observer, integrated flight/propulsion control

CLC Number:

V212.4

Zhong WANG, Zhongfu REN, Junqiang BAI, Jinxi LANG, Yan LI. Integrated flight/propulsion control of coaxial high-speed helicopter based on robust explicit model following control[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(7): 632745.

Figures/Tables 27

Fig.1

Table 1

Table 2

Position and rate limitation of coaxial high-speed helicopter actuators

操纵变量	位置限制/（°）	速率限制/（（°）·s^-1）
总距 $θ 0$	［0，20］	40
总距差动 $θ 0 d$	［-5，5］	40
横向周期变距 $θ 1 c$	［-6.25，6.25］	40
纵向周期变距 $θ 1 s$	［-10，10］	40
尾推桨总距 $θ p$	［10，100］	20
升降舵 $δ e$	［-20，20］	80
方向舵 $δ r$	［-20，20］	70

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Table 3

Fig.8

Fig.9

Fig.10

Table 4

Parameters of integrated flight/propulsion control system

子系统	控制通道	指令模型参数		PID控制器		ESO 带宽 $ω o i$
子系统	控制通道	参数1	参数2	比例增益 $K P$	积分增益 $K I$	ESO 带宽 $ω o i$
飞行控制	飞行通道（V）	T_V =0.25	$K V, c m d$ $= 1$	$K P V$ =3	$K I V$ =1	10
	垂向通道（V_z ）	$T V z$ $= 0.25$	$K V z, c m d$ $= 1$	$K P V z$ =-5	$K I V z$ $= 1.5$	10
	滚转通道（ $ϕ$ ）	$ω ϕ$ $= 3.0$	$ζ ϕ$ $= 0.9$	$K P ϕ$ =7	$K I ϕ$ $= 1.3$	10
	俯仰通道（ $θ$ ）	$ω θ$ $= 2.5$	$ζ θ$ $= 0.8$	$K P θ$ =4	$K I θ$ $= 0.8$	8
	航向通道（ $r$ ）	$T r$ $= 0.125$	$K r$ $= 1$	$K P r$ =9	$K I r$ $= 1.4$	9
发动机控制	动力涡轮（N _P）	$ω N P$ $= 50$	$ζ N P$ $= 0.9$	$K P N P$ $= 6$	$K I N P$ $= 1.8$	10
	燃气涡轮（N _G）			$K P N G = 5$	0
	主旋翼（ $Ω$ ）			$K P Ω$ =1	$K I r$ $= 2.1$
	总距前馈（ $θ 0$ ）			$K θ 0$ =2	0
	尾推桨总距前馈（ $θ 0 p$ ）			$K θ 0 p$ =2	0

Table 4

Fig.11

Table 5

Fig.12

Table 6

Fig.13

Table 7

Table 8

Fig.14

Fig.15

Table 9

Table 10

Table 11

Table 12

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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
旋翼旋转速度/（r·min^-1）	274.1~360.0
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
尾推桨桨叶片数	6
尾推桨旋转速度/（r·min^-1）	1 547.0
尾推桨位置/m	（-7.66， 0， 0）
平尾气动中心位置/m	（-6.8， 0， 0.2）
垂尾气动中心位置/m	（-6.8， 0， -0.5）

评价指标	通道	控制策略
评价指标	通道	非线性+REMFC	非线性+EMFC	线性+EMFC	非线性+H _∞
超调量/%	垂向	3.227 4	12.634 5	0.463 3	0.277 8
	滚转	1.043 5	4.543 9	0.040 0	1.618 0
	俯仰	2.209 1	8.671 1	1.364 7	0.391 4
	航向	0.959 2	1.356 2	0.000 0	1.848 4
调节时间/s	垂向	1.750 0	4.170 0	1.900 0	2.050 0
	滚转	2.280 0	3.660 0	2.360 0	2.290 0
	俯仰	2.310 0		2.380 0	2.570 0
	航向	1.370 0	1.350 0	1.330 0	1.480 0
ISE	垂向	0.138 8	0.854 6	0.088 5	0.312 7
	滚转	0.265 0	0.585 8	0.111 8	0.574 3
	俯仰	0.132 6	0.273 1	0.049 3	0.274 7
	航向	0.013 7	0.096 1	0.007 9	0.041 2

评价指标	飞/发综合	飞行控制	发动机控制
超调量/%	0.860 3	0.931 6	5.103 9
调节时间/s	2.310 0	2.370 0	4.260 0
ISE	0.172 1	0.193 8	0.980 1

通道	超调量/%		调节时间/s		ISE
通道	REMFC- 飞/发综合	EMFC- 飞/发分离	REMFC- 飞/发综合	EMFC- 飞/发分离	REMFC- 飞/发综合	EMFC- 飞/发分离
垂向	2.227 3	9.743 9	1.850 0		0.074 7	1.200 8
滚转	0.860 3	6.134 7	2.310 0	4.320 0	0.172 1	1.090 5
俯仰	2.306 3	13.497 5	2.320 0		0.054 8	0.418 4

通道	ISE
通道	REMFC-飞/发综合	EMFC-飞/发分离
垂向	0.014 1	22.622 4
滚转	0.052 2	29.347 6
俯仰	0.035 4	28.909 7

Integrated flight/propulsion control of coaxial high-speed helicopter based on robust explicit model following control

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