直升机边界保护控制方法综述

doi:10.7527/S1000-6893.2026.32611

Abstract

Abstract:

Helicopters are extensively utilized in both military and civilian sectors due to their unique flight capabilities. However， their operational safety is constrained by complex flight envelopes and inherent nonlinear， strongly-coupled dynamics. Flight Envelope Protection （FEP） technology， which aims to mitigate these limitations by predicting potential limit exceedances and implementing effective avoidance measures， has emerged as a critical research area in modern helicopter flight control to reduce pilot workload， enhance flight safety， and maximize available maneuverability. A comprehensive review of the key technologies and research progress in helicopter FEP are presented. Firstly， the composition， classification， and typical limit parameters of the helicopter flight envelope are outlined. Subsequently， following the two fundamental stages of “limit prediction” and “limit avoidance” ， a variety of envelope protection methods are elaborated. For limit prediction， the principles and applicability of prominent algorithms such as the dynamic trim method， the peak response estimation method， and the data-driven method are analyzed. For limit avoidance， cockpit-cueing-based protection strategies， automatic intervention architectures based on command limiting and control limiting， limit avoidance via state limiting and protected variable feedback methods， and approaches that integrate envelope constraints into controller design are reviewed. A comparative analysis based on simulation results highlights the distinct characteristics of these methods in terms of maneuverability， envelope protection effectiveness， and robustness. Finally， the primary challenges in the field are summarized， including the design of envelope protection for advanced rotorcraft configurations， the trade-off between FEP and handling qualities and the robust fault-tolerant envelope protection under uncertainties and fault conditions. Future trends toward more intelligent， adaptive， and integrated FEP systems are further discussed. This review is intended to provide a valuable reference for both research and engineering applications in helicopter FEP technology.

Key words: helicopter, envelope protection, limit prediction, limit avoidance, flight control

CLC Number:

V212.4

Zhong WANG, Jinxi LANG, Yan LI. Survey of flight envelope protection control methods for helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(17): 332611.

Figures/Tables 28

Fig.1

Fig.2

Fig.3

Table 1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Table 2

Summary of limit prediction and avoidance methods

方法类别	方法	文献	特点、优点	存在的问题
边界预测	动态配平法	［24，27，60，63，79，81，114-116］	适用于稳态响应型限制参数；预测限制参数在准稳态机动下的未来响应；采用在线自适应神经网络可适应飞行条件变化，减少对先验信息的依赖；可用于计算控制极限或指令裕度	仅适用于最大值在稳态时达到的限制参数；预测依赖于对“快慢状态”的划分和动态配平条件的满足；求解控制极限需要迭代计算
	峰值响应法	［24-25］	适用于瞬态响应峰值处达到极限的参数（如挥舞角、桨毂力矩）；基于简化的线性模型解析预测峰值	严重依赖精确的线性模型，获取困难且适用范围窄；求解临界操纵输入通常需要迭代
	数据驱动方法	［39，57，59，62-64］	适用于复杂非线性边界保护问题、可在线补偿模型不确定性影响、可用于限制参数预测和控制余量估计	依赖训练数据、泛化性和可解释性不足
边界规避	座舱提示	［24，39，62-63，68］	通过视觉、听觉、触觉等方式向飞行员告警；触觉告警直观，不易忽略，能提供修正指引，提高操纵性能和安全性；保留飞行员最终控制权	视觉/听觉告警可能被忽略或引起不当反应；触觉告警依赖主动驾驶杆硬件和精确的控制极限计算；告警设计的合理性影响飞行员接受度和人机交互效果，可能产生告警疲劳或诱发振荡
	指令限制	［40，64，77-80，117，119］	在飞行控制系统高层指令路径中限制目标姿态、角速度等指令；与底层飞行控制律相互分离，集成相对简单；对飞行控制律稳定性影响较小	依赖边界预测的精度；高层指令与限制参数间存在复杂非线性关系，极限映射困难；其效果严重依赖控制律的跟踪性能
	直接控制限制	［78，117］	在飞行控制系统较低层级，直接限制舵面偏转或发动机指令；在某些情况下，状态极限到舵面极限的映射可能更直接	舵面限制易引发输入饱和问题，与高带宽控制律易产生冲突和抖振，系统稳定性需重新评估或设计抗饱和措施
	反应式边界保护	［83-84］	基于有限时域预测与安全响应轨迹跟踪，可将边界保护要求直接转化为控制修正或控制余量；具有隐式预测提前量	依赖限制参数动态模型或在线自适应估计的准确性，以及安全响应轨迹参数设计的合理性
	状态限制	［35，94，96-97，113，118］	将边界限制作为内在约束，直接集成到控制律设计（如MPC、PPC、BLF）中；能显式处理多变量约束，理论完备性强	控制律设计通常更为复杂，对模型的依赖性强；在线计算量可能较大（尤其对于非线性MPC），实时性是关键
	保护量反馈	［41-42，98，101-103］	针对特定结构载荷或限制参数（保护量），设计专用反馈回路进行主动抑制（如SLA）；可利用优化控制（LQR）或控制分配技术，将保护目标融入控制律或操纵面分配，协同提升性能和安全性	通常为针对性设计，通用性不强；效能受限于作动器能力和反馈测量精度；对关键保护量的精确、实时测量（尤其在旋翼上）是技术难点

Table 2

Fig.15

Fig.16

Fig.17

Fig.18

Fig.19

Fig.20

Fig.21

Fig.22

Fig.23

Fig.24

Fig.25

Fig.26

References 127

[1]	陈谋，马浩翔，雍可南，等. 无人机安全飞行控制综述［J］. 机器人， 2023， 45（3）： 345-366.
	CHEN M， MA H X， YONG K N， et al. Safety flight control of UAV： A survey［J］. Robot， 2023， 45（3）： 345-366 （in Chinese）.
[2]	MASSEY C P. Carefree handling systems for helicopters［J］. Proceedings of the Institution of Mechanical Engineers， Part G： Journal of Aerospace Engineering， 1992， 206（1）： 37-46.
[3]	MASSEY C P， HOWITT J. Advances in helicopter carefree handling and control augmentation［C］∥ Flight Vehicle Integration Panel Symposium. 1996.
[4]	STICH R. Clearance of flight control laws for carefree handling of advanced fighter aircraft［M］∥ Optimization based clearance of flight control laws. Berlin： Springer， 2012： 421-442.
[5]	PADFIELD G D. The making of helicopter flying qualities： A requirements perspective［J］. The Aeronautical Journal， 1998， 102（1018）： 409-437.
[6]	MÜLLHÄUSER M. Pilot’s eyes-out capability with a haptic torque protection during helicopter takeoff［J］. Journal of the American Helicopter Society， 2025， 70 （2）： 022007.
[7]	JEBAKUMAR S K， PASHILKAR A A， SUNDARARAJAN N. Design and verification of carefree maneuvering protection for a high performance fighter aircraft［J］. Defence Science Journal， 2023， 73（3）： 263-273.
[8]	吴希明，牟晓伟. 直升机关键技术及未来发展与设想［J］. 空气动力学学报， 2021， 39（3）： 1-10.
	WU X M， MU X W. A perspective of the future development of key helicopter technologies［J］. Acta Aerodynamica Sinica， 2021， 39（3）： 1-10 （in Chinese）.
[9]	王爽，王开通，曹金华，等. 国外高速直升机的现状与发展趋势分析［J］. 航空科学技术， 2023， 34（12）： 1-8.
	WANG S， WANG K T， CAO J H， et al. Current situation and development trend analysis of high-speed helicopter［J］. Aeronautical Science & Technology， 2023， 34（12）： 1-8 （in Chinese）.
[10]	王梓旭，李攀，沈俊彪，等. 加/减速状态下倾转旋翼飞行器动态过渡走廊［J］. 航空学报， 2025， 46（11）： 531377.
	WANG Z X， LI P， SHEN J B， et al. Dynamic conversion corridor of tiltrotor aircraft under accelerating and decelerating conditions［J］. Acta Aeronautica et Astronautica Sinica， 2025， 46（11）： 531377 （in Chinese）.
[11]	CASSINELLI C， PECORARO M. Next generation civil tilt-rotor technology demonstrator （NGCTR-TD） tail design［C］∥ Proceedings of the 48th European Rotorcraft Forum. 2022.
[12]	SAETTI U. Dynamic inversion flight control laws for automatic transition of tilt-rotor/wing aircraft［J］. Journal of the American Helicopter Society， 2025， 70（3）： 032005.
[13]	DU Z Y， WANG J Q， HAN Y P， et al. An analytical study of the centre of gravity envelope of a tilt-rotor aircraft in full flight mode［C］∥ Proceedings of 2024 Chinese Intelligent Systems Conference. Singapore： Springer， 2024： 602-609.
[14]	仇钰清，李俨，郎金溪，等. 高速直升机过渡模态鲁棒自适应姿态控制［J］. 航空学报， 2024， 45（9）： 529927.
	QIU Y Q， LI Y， LANG J X， et al. Robust adaptive attitude control of high-speed helicopters in transition mode［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（9）： 529927 （in Chinese）.
[15]	WANG M S， CAO Y H. A review of coaxial compound helicopters： Aerodynamics and flight dynamics［J］. Archives of Computational Methods in Engineering， 2025， 32（7）： 4001-4031.
[16]	QIU Y Q， LI Y， LANG J X， et al. Dynamics analysis and control of coaxial high-speed helicopter in transition flight［J］. Aerospace Science and Technology， 2023， 137： 108278.
[17]	QIU Y Q， LI Y， LANG J X， et al. Robust-augmentation nonlinear dynamic inversion control of over-actuated coaxial high-speed helicopter in transition mode［J］. Chinese Journal of Aeronautics， 2024， 37（8）： 404-420.
[18]	LANG J X， LI Y， QIU Y Q， et al. Nonlinear dynamic inversion based full envelope robust flight control for coaxial compound helicopter［J］. Aerospace Science and Technology， 2024， 154： 109526.
[19]	邓景辉. 高速直升机关键技术与发展［J］. 航空学报， 2024， 45（9）： 529085.
	DENG J H. Key technologies and development for high-speed helicopters［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（9）： 529085 （in Chinese）.
[20]	聂博文，王亮权，黄志银，等. 复合式高速无人直升机飞行动力学建模与控制策略设计［J］. 航空学报， 2024， 45（9）： 529848.
	NIE B W， WANG L Q， HUANG Z Y， et al. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（9）： 529848 （in Chinese）.
[21]	JOHNSON C K， TISCHLER M B， MITTLEIDER D， et al. Analysis， design， & optimization of the helicopter active control technology （HACT） flight control system ［C］∥ American Helicopter Society 58th Annual Forum. Alexandria： American Helicopter Society， 2002： 885-899.
[22]	TAKAHASHI M D， FUJIZAWA B T， LUSARDI J A， et al. Comparison of autonomous flight control performance between partial- and full-authority helicopters［J］. Journal of Guidance， Control， and Dynamics， 2022， 45（5）： 885-901.
[23]	MILLER D G， EINTHOVEN P G， MORSE C S， et al. HACT flight control system （HFCS） control law overview［C］∥ American Helicopter Society 58th Annual Forum. Alexandria： American Helicopter Society， 2002： 867-884.
[24]	HORN J F， CALISE A J， PRASAD J V R. Flight envelope limit detection and avoidance for rotorcraft［J］. Journal of the American Helicopter Society， 2002， 47（4）： 253-262.
[25]	HORN J F， SAHANI N. Detection and avoidance of main rotor hub moment limits on rotorcraft［J］. Journal of Aircraft， 2004， 41（2）： 372-379.
[26]	SAHANI N A. Envelope protection systems for piloted and unmanned rotorcraft［D］. Philadelphia： The Pennsylvania State University， 2005.
[27]	YAVRUCUK I， PRASAD J V R. Online dynamic trim and control limit estimation［J］. Journal of Guidance， Control， and Dynamics， 2012， 35（5）： 1647-1656.
[28]	VAN BAELEN D， VAN PAASSEN M M， ELLERBROEK J， et al. Flying by feeling： Communicating flight envelope protection through haptic feedback［J］. International Journal of Human-Computer Interaction， 2021， 37（7）： 655-665.
[29]	DE ROOIJ G， VAN BAELEN D， BORST C， et al. Supplementing haptic feedback in flight envelope protection through visual display indications［J］. Journal of Aerospace Information Systems， 2023， 20（6）： 351-367.
[30]	VAN BAELEN D， VAN PAASSEN R， ELLERBROEK J， et al. Evaluating stick stiffness and position guidance for feedback on flight envelope protection［C］∥ AIAA Scitech 2021 Forum. Reston： AIAA， 2021： 1013.
[31]	SCHWENZER M， AY M， BERGS T， et al. Review on model predictive control： An engineering perspective［J］. The International Journal of Advanced Manufacturing Technology， 2021， 117（5）： 1327-1349.
[32]	FANG X， JIANG J J， CHEN W H. Model predictive control with wind preview for aircraft forced landing［J］. IEEE Transactions on Aerospace and Electronic Systems， 2023， 59（4）： 3995-4004.
[33]	CAVANINI L， IPPOLITI G， CAMACHO E F. Model predictive control for a linear parameter varying model of an UAV［J］. Journal of Intelligent & Robotic Systems， 2021， 101（3）： 57.
[34]	BU X W. Prescribed performance control approaches， applications and challenges： A comprehensive survey［J］. Asian Journal of Control， 2023， 25（1）： 241-261.
[35]	LANG J X， WANG Z， LI Y. Prescribed performance-based envelope protection control for coaxial compound helicopter in high-speed flight［J］. IEEE Transactions on Aerospace and Electronic Systems， 2025， 61（5）： 12219-12233.
[36]	CRUZ-ORTIZ D， CHAIREZ I， POZNYAK A. Sliding-mode control of full-state constraint nonlinear systems： A barrier Lyapunov function approach［J］. IEEE Transactions on Systems， Man， and Cybernetics： Systems， 2022， 52（10）： 6593-6606.
[37]	MU D D， LI L， WANG G F， et al. State constrained control strategy for unmanned surface vehicle trajectory tracking based on improved barrier Lyapunov function［J］. Ocean Engineering， 2023， 277： 114276.
[38]	DUNFORD P， LUNN K， MAGNUSON R， et al. The V-22 osprey： A significant flight test challenge［EB/OL］. ［2025-07-23］. .
[39]	SAHANI N A， HORN J F， JERAM G J J， et al. Hub moment limit protection using neural network prediction［J］. Journal of the American Helicopter Society， 2006， 51（4）： 331-340.
[40]	SAHANI N A， HORN J F. Adaptive model inversion control of a helicopter with structural load limiting［J］. Journal of Guidance， Control， and Dynamics， 2006， 29（2）： 411-420.
[41]	SAETTI U， HORN J F. Load alleviation control design using harmonic decomposition models， rotor state feedback， and redundant control effectors［C］∥ Proceedings of 74th American Helicopter Society International Annual Forum and Technology Display 2018： The Future of Vertical Flight. Alexandria： American Helicopter Society， 2018.
[42]	KING D W， DABUNDO C， KISOR R L， et al. V-22 load limiting control law development［C］∥ American Helicopter Society 49th Annual Forum. Alexandria： American Helicopter Society， 1993： 211-224.
[43]	陈亚萍，喻溅鉴，胡磊，等. 直升机旋翼轴弯矩特征及应用［J］. 航空学报， 2021， 42（5）： 524168.
	CHEN Y P， YU J J， HU L， et al. Characteristics and application of bending moments of helicopter rotor shaft［J］. Acta Aeronautica et Astronautica Sinica， 2021， 42（5）： 524168 （in Chinese）.
[44]	GRAZIANI A， PREDERI D， TREZZINI A A， et al. Prediction of helicopter rotor loads and fatigue damage evaluation with neural networks［J］. Aerotecnica Missili & Spazio， 2025， 104（3）： 223-231.
[45]	BERGER T， BLANKEN C L， LUSARDI J A， et al. Coaxial-compound helicopter flight control design and high-speed handling qualities assessment［J］. Journal of the American Helicopter Society， 2022， 67（3）： 032008.
[46]	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.
[47]	MCKAY M E， VAYALALI P， GANDHI F， et al. Control allocation reconfiguration for actuator failure on a coaxial-pusher helicopter［J］. Journal of the American Helicopter Society， 2023， 68（3）： 032004.
[48]	BASSET P M， CHEN C， PRASAD J V R， et al. Prediction of vortex ring state boundary of a helicopter in descending flight by simulation［J］. Journal of the American Helicopter Society， 2008， 53（2）： 139-151.
[49]	STANISLAWSKI J. A simulation investigation of helicopter ground resonance phenomenon［J］. Aircraft Engineering and Aerospace Technology， 2019， 91（3）： 484-497.
[50]	GÜRSOY G. Direct adaptive flight envelope protection ［D］. Ankara： Middle East Technical University， 2016.
[51]	JOHNSON W. Model for vortex ring state influence on rotorcraft flight dynamics［C］∥ Proceedings of the 4th Decennial Specialist’s Conference on Aeromechanics. Alexandria： American Helicopter Society， 2004.
[52]	COLEMAN R P， FEINGOLD A M. Theory of self-excited mechanical oscillations of helicopter rotors with hinged blades： NACA-TR-1351［R］. Washington， D.C.： NACA， 1958.
[53]	PICKLES D J， ZAGAGLIA D， BUSSE A， et al. Vortex ring state of a shrouded rotor： An experimental survey［J］. Experiments in Fluids， 2023， 64（4）： 69.
[54]	Federal Aviation Administration. Helicopter flying handbook， Chapter 11： Helicopter emergencies and hazards： FAA-H-8083-21B ［S］. Washington， D.C.： U.S. Department of Transportation， 2019.
[55]	Federal Aviation Administration. Helicopter Flying Handbook： Glossary and index： FAA-H-8083-21B ［S］. Washington， D.C.： U.S. Department of Transportation， 2019.
[56]	IGNÁCIO DA SILVA J A， BUENO D D， DE ABREU G L C M. On the controllers’ design to stabilize ground resonance helicopter［J］. Journal of Vibration and Control， 2019， 25（23/24）： 2894-2909.
[57]	YAVRUCUK I， PRASAD J V R， UNNIKRISHNAN S. Envelope protection for autonomous unmanned aerial vehicles［J］. Journal of Guidance， Control， and Dynamics， 2009， 32（1）： 248-261.
[58]	SHIN H H， LEE S H， KIM Y D， et al. Design of a flight envelope protection system using a dynamic trim algorithm［J］. International Journal of Aeronautical and Space Sciences， 2011， 12（3）： 241-251.
[59]	SHIN H， KIM Y. Flight envelope protection of aircraft using adaptive neural network and online linearisation［J］. International Journal of Systems Science， 2016， 47（4）： 868-885.
[60]	KIM J H， KIM S， LEE J， et al. Limit protection systems for safety operational envelope of submarine［J］. International Journal of Naval Architecture and Ocean Engineering， 2024， 16： 100598.
[61]	PARK J Y， KIM N. Design of a safety operational envelope protection system for a submarine［J］. Ocean Engineering， 2018， 148： 602-611.
[62]	HORN J F， CALISE A J， PRASAD J V R. Flight envelope cueing on a tilt-rotor aircraft using neural network limit prediction［J］. Journal of the American Helicopter Society， 2001， 46（1）： 23-31.
[63]	HORN J F， CALISE A J， PRASAD J V R. Flight envelope limiting systems using neural networks［C］∥ 23rd Atmospheric Flight Mechanics Conference. Reston： AIAA， 1998： 741-751.
[64]	XIE R， HE H H， MENG X B， et al. Neural-network-based dynamic flight envelop protection within integrated aircraft control system［J］. Journal of Guidance， Control， and Dynamics， 2023， 46（6）： 1083-1094.
[65]	GOLD P J， DRYFOOS J B. Design and pilot evaluation of the RAH-66 Comanche selectable control modes： NASA-CP-3220［R］. Washington， D.C.： NASA， 1993.
[66]	JERAM G J. Open platform for limit protection with carefree maneuver applications ［D］. Atlanta： Georgia Institute of Technology， 2004.
[67]	FELLAH K， GUIATNI M. Tactile display design for flight envelope protection and situational awareness［J］. IEEE Transactions on Haptics， 2019， 12（1）： 87-98.
[68]	VAN BAELEN D， ELLERBROEK J， RENÉ VAN PAASSEN M M， et al. Design of a haptic feedback system for flight envelope protection［J］. Journal of Guidance， Control， and Dynamics， 2020， 43（4）： 700-714.
[69]	WHALLEY M S， HINDSON W S， THIERS G， et al. A comparison of active sidestick and conventional inceptors for helicopter flight envelope tactile cueing［C］∥ American Helicopter Society 56th Annual Forum. Alexandria： American Helicopter Society， 2000.
[70]	EINTHOVEN P G， MILLER D G， NICHOLAS J S， et al. Tactile cueing experiments with a three axis sidestick［C］∥ American Helicopter Society 57th Annual Forum. Alexandria： American Helicopter Society， 2001.
[71]	GREENFIELD A， KUBIK S， FAYNBERG A， et al. CH-53K control law risk reduction flight testing on the RASCAL JUH-60A in-flight simulator［C］∥ American Helicopter Society 68th Annual Forum. Alexandria： American Helicopter Society， 2012.
[72]	TURPIN T S， DOWELL S R， SZOBOSZLAY Z. Comanche helmet-mounted display symbology simulation： Final report： NASA/CR-2006-212834［R］. Washington， D.C.： NASA， 2006.
[73]	MORCOS M T， FISHMAN S M， SAETTI U， et al. Spatial audio cueing algorithms for augmented pilot perception in degraded/denied visual environments［C］∥ Proceedings of the 49th European Rotorcraft Forum. 2023.
[74]	MILAM L， AKINS E， WILLIAMS H， et al. Spatial audio cueing aids pilot navigation during simulated helicopter flight in degraded visual environments［C］∥ Proceedings of the Human Factors and Ergonomics Society Annual Meeting.2019： 1634-1638.
[75]	MORCOS M T， FISHMAN M， COCCO A， et al. Full-body haptic cueing algorithms for augmented pilot perception in degraded/denied visual environments［C］∥ Proceedings of the Vertical Flight Society 79th Annual Forum and Technology Display. Fairfax： The Vertical Flight Society， 2023.
[76]	戴兴安，陈燕云，盛守照. 基于RBF和动态配平的高速直升机边界保护控制［J］. 电光与控制， 2019， 26（10）： 38-42.
	DAI X A， CHEN Y Y， SHENG S Z. Envelope protection control for high-speed helicopter based on RBF and dynamic trimming［J］. Electronics Optics & Control， 2019， 26（10）： 38-42 （in Chinese）.
[77]	THAISS C， MCCOLL C C， HORN J F， et al. Rotorcraft real time damage alleviation through load limiting control［C］∥ 55th AIAA/ASME/ASCE/AHS/ASC Structures， Structural Dynamics， and Materials Conference. Reston： AIAA， 2014： 1528.
[78]	FALKENA W， BORST C， CHU Q P， et al. Investigation of practical flight envelope protection systems for small aircraft［J］. Journal of Guidance， Control， and Dynamics， 2011， 34（4）： 976-988.
[79]	LIANG S， XU B， SUN S S， et al. Dynamic-command-limiting-based AOA constraint control of hypersonic flight vehicle［J］. IEEE Transactions on Aerospace and Electronic Systems， 2025， 61（1）： 1163-1174.
[80]	SAHANI N， HORN J F. Command limiting for full-envelope guidance and control of rotorcraft［C］∥ AIAA Guidance， Navigation， and Control Conference and Exhibit. Reston： AIAA， 2005： 6348.
[81]	SHIN H， KIM Y， KIM E T， et al. Flight envelope protection controller using dynamic trim algorithm［C］∥ 2009 ICCAS-SICE. Piscataway： IEEE Press， 2009： 3228-3232.
[82]	JOHNSON E N. Limited authority adaptive flight control［D］. Atlanta： Georgia Institute of Technology， 2000.
[83]	UNNIKRISHNAN S. Adaptive envelope protection methods for aircraft［D］. Atlanta： Georgia Institute of Technology， 2006.
[84]	UNNIKRISHNAN S， PRASAD J V R. Carefree handling using reactionary envelope protection method［C］∥AIAA Guidance， Navigation， and Control Conference and Exhibit. Reston： AIAA， 2006： 6219.
[85]	HOLKAR K S， WAGHMARE L M. An overview of model predictive control［J］. International Journal of Control and Automation， 2010， 3（4）： 47-63.
[86]	KOUVARITAKIS B， CANNON M. Model predictive control［M］. Cham： Springer International Publishing， 2016.
[87]	GRÜNE L， PANNEK J. Nonlinear model predictive control： Theory and algorithms［M］. Cham： Springer International Publishing， 2017.
[88]	ZHAO K， SONG Y D， MA T D， et al. Prescribed performance control of uncertain Euler-Lagrange systems subject to full-state constraints［J］. IEEE Transactions on Neural Networks and Learning Systems， 2018， 29（8）： 3478-3489.
[89]	SHI Y， YI B W， XIE W， et al. Enhancing prescribed performance of tracking control using monotone tube boundaries［J］. Automatica， 2024， 159： 111304.
[90]	TEE K P， GE S S， TAY E H. Barrier Lyapunov functions for the control of output-constrained nonlinear systems［J］. Automatica， 2009， 45（4）： 918-927.
[91]	TEE K P， GE S S. Control of nonlinear systems with partial state constraints using a barrier Lyapunov function［J］. International Journal of Control， 2011， 84（12）： 2008-2023.
[92]	HOSSEINNAJAD A， MOHAJER N， NAHAVANDI S. Barrier Lyapunov function-based backstepping controller design for path tracking of autonomous vehicles［J］. Journal of Intelligent & Robotic Systems， 2024， 110（3）： 118.
[93]	BOTTASSO C L， MONTINARI P. Rotorcraft flight envelope protection by model predictive control［J］. Journal of the American Helicopter Society， 2015， 60（2）： 1-13.
[94]	BAUERSFELD L， SPANNAGL L， DUCARD G J J， et al. MPC flight control for a tilt-rotor VTOL aircraft［J］. IEEE Transactions on Aerospace and Electronic Systems， 2021， 57（4）： 2395-2409.
[95]	MA B， CHEN M. Safety flight envelope calculation and protection control of UAV based on disturbance observer［J］. Security and Safety， 2023， 2： 2023020.
[96]	YAN K， CHEN M， WU Q X. Neural network-based adaptive fault tolerant tracking control for unmanned autonomous helicopters with prescribed performance［J］. Proceedings of the Institution of Mechanical Engineers， Part G： Journal of Aerospace Engineering， 2019， 233（12）： 4350-4362.
[97]	WANG Z， LANG J X， LI Y. Envelope protection for coaxial compound helicopter with prescribed performance［J］. Journal of Guidance， Control， and Dynamics， 2025， 48（12）： 2908-2918.
[98]	SAETTI U， HORN J F. Load alleviation flight control design using high-order dynamic models［J］. Journal of the American Helicopter Society， 2020， 65（3）： 032009.
[99]	SAETTI U. Rotorcraft flight control design with alleviation of unsteady rotor loads［D］. Philadelphia： The Pennsylvania State University， 2019.
[100]	SCARAMAL M， SAETTI U， HORN J F. Load alleviation control using dynamic inversion with direct load feedback［C］∥ Proceedings of the Vertical Flight Society 77th Annual Forum and Technology Display. Fairfax： The Vertical Flight Society， 2021.
[101]	MANIMALA B， PADFIELD G D， WALKER D. Load alleviation for a tilt-rotor aircraft in airplane mode［J］. Journal of Aircraft， 2006， 43（1）： 147-156.
[102]	WALKER D J， VOSKUIJL M. Active control of flight path and critical loads in tilt-rotor aircraft［C］∥ American Helicopter Society 63rd Annual Forum. Alexandria： American Helicopter Society， 2007.
[103]	VOSKUIJL M， PAVEL M D， VAN DER VORST J. Active control technology for tiltrotor structural load alleviation［C］∥ 30th European Rotorcraft Forum. 2004.
[104]	SAETTI U， HORN J F， BERGER T， et al. Handling-qualities perspective on rotorcraft load alleviation control［J］. Journal of Guidance， Control， and Dynamics， 2020， 43（10）： 1792-1804.
[105]	陈谋，黄正国，申耀华，等. 先进飞行器复合抗干扰控制技术综述［J］. 航空学报， 2025， 46（6）： 531303.
	CHEN M， HUANG Z G， SHEN Y H， et al. Overview of composite anti-disturbance control technology of advanced vehicles［J］. Acta Aeronautica et Astronautica Sinica， 2025， 46（6）： 531303 （in Chinese）.
[106]	LU K， TIAN H Y， ZHEN P， et al. Conversion flight control for tiltrotor aircraft via active disturbance rejection control［J］. Aerospace， 2022， 9（3）： 155.
[107]	DU Y W， CAO W H， SHE J H. Analysis and design of active disturbance rejection control with an improved extended state observer for systems with measurement noise［J］. IEEE Transactions on Industrial Electronics， 2023， 70（1）： 855-865.
[108]	TANG S， YANG Q H， QIAN S K， et al. Height and attitude active disturbance rejection controller design of a small-scale helicopter［J］. Science China Information Sciences， 2015， 58（3）： 1-17.
[109]	DUAN D Y， WANG Z G， LI J B， et al. Stabilization control for unmanned helicopter-slung load system based on active disturbance rejection control and improved sliding mode control［J］. Proceedings of the Institution of Mechanical Engineers， Part G： Journal of Aerospace Engineering， 2021， 235（13）： 1803-1816.
[110]	SHEN S Y， XU J F. Trajectory tracking active disturbance rejection control of the unmanned helicopter and its parameters tuning［J］. IEEE Access， 2021， 9： 56773-56785.
[111]	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）.
[112]	刘明皓，周沛沅，许敏捷，等. 基于自抗扰控制的共轴直升机姿态控制律设计［J］. 海军航空大学学报， 2024， 39（1）： 123-130， 146.
	LIU M H， ZHOU P Y， XU M J， et al. Design of attitude control law for coaxial helicopter based on active disturbance rejection control［J］. Journal of Naval Aviation University， 2024， 39（1）： 123-130， 146 （in Chinese）.
[113]	MA H X， CHEN M， WU Q X. Disturbance observer-based safe tracking control for unmanned helicopters with partial state constraints and disturbances［J］. IEEE/CAA Journal of Automatica Sinica， 2023， 10（11）： 2056-2069.
[114]	YAVRUCUK I， UNNIKRISHNAN S， PRASAD J V R. Envelope protection in autonomous unmanned aerial vehicles［C］∥ American Helicopter Society 59th Annual Forum. Alexandria： American Helicopter Society， 2003： 2000-2010.
[115]	KRINGS M， THIELECKE F. A predictive envelope protection system using linear， parameter-varying models［J］. CEAS Aeronautical Journal， 2015， 6（1）： 95-108.
[116]	KRINGS M， THIELECKE F. An integrated approach to predictive flight guidance and envelope protection［C］∥ AIAA Guidance， Navigation， and Control Conference. Reston： AIAA， 2012： 4712.
[117]	MBALLO C E， PRASAD J V R， BERGER T. Load limiting control： A handling qualities analysis［C］∥ 47th European Rotorcraft Forum. 2021.
[118]	杨庶，杨婷，王欣然. 具有输出边界保护的飞行器姿态控制律设计［J］. 中国科学：信息科学， 2024， 54（10）： 2470-2486.
	YANG S， YANG T， WANG X R. Attitude control law design for a flight vehicle with output boundary protections［J］. Scientia Sinica （Informationis）， 2024， 54（10）： 2470-2486 （in Chinese）.
[119]	杨庶. 具有边界保护性能的直升机飞-发一体化控制律［J］. 航空学报， 2023， 44（S1）： 727560.
	YANG S. Helicopter integrated flight-engine control with envelope protections［J］. Acta Aeronautica et Astronautica Sinica， 2023， 44（S1）： 727560 （in Chinese）.
[120]	RUDDELL A J， GROTH W， MCCUTCHEON R. Advancing blade concept （ABC） technology demonstrator： USAAVRADCOM-TR-81-D-5［R］. 1981.
[121]	LANG J X， LI Y， QIU Y Q， et al. Development of a mathematical model of a coaxial compound helicopter for trimming and stability analysis［J］. Journal of Aerospace Engineering， 2024， 37（5）： 04024053.
[122]	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）： 04021084.
[123]	BERGER T. Handling qualities requirements and control design for high-speed rotorcraft ［D］. Philadelphia： The Pennsylvania State University， 2019.
[124]	CARAWAY D J， HARRIS Q C， COTTING M C. VISTA X-62A model following algorithm overview［C］∥ AIAA SCITECH 2023 Forum. Reston： AIAA， 2023： 1746.
[125]	BLANKEN C L， TISCHLER M B， LUSARDI J A， et al. Proposed revisions to Aeronautical Design Standard-33E （ADS-33E-PRF） toward ADS-33F-PRF： SR-FCDD-AMV-19-01［R］. 2019.
[126]	KUFELD R M， BOUSMAN W G. High load conditions measured on a UH-60A in maneuvering flight［J］. Journal of the American Helicopter Society， 1998， 43（3）： 202-211.
[127]	ABRAMOVITZ M， SCHMIDT S F， VAN DYKE R D， Jr. Investigation of the use of a stick force proportional to pitching acceleration for normal-acceleration warning： NACA-RM-A53E21［R］. Washington， D.C.： NACA， 1953.

直升机类型	相同限制参数	特有或需特别关注的限制参数
单旋翼直升机	空速、过载^［27］、姿态角、角速度、旋翼转速、发动机/传动系统扭矩、桨叶挥舞角^［24］、桨毂力矩^［39-40］、旋翼振动载荷^［41］	尾桨功效
共轴刚性旋翼直升机		上下旋翼桨尖间隙
倾转旋翼机		迎角、左右旋翼传动轴扭矩^［42］、短舱倾转机构载荷和倾转速度^［42］

Survey of flight envelope protection control methods for helicopters

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 28

References 127

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Yuwei CUI, Xianfeng MENG, Sicheng ZHANG, Aijun LI. A fault-tolerant method for flight control system based on new network distributed architecture [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532525-532525.
[2]	Kenan YONG, Mou CHEN. Safety flight control for aggressive maneuvering of unmanned autonomous helicopters under multi-class and multi-type constraints [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532472-532472.
[3]	Zhaoxing LI, Lin YANG, Xia WANG, Bin XU. Finite-time deep stall recovery control for fighter aircraft using forced oscillation [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532491-532491.
[4]	Yuan LU, Ke ZHANG, Bin JIANG. Hierarchical fault-tolerant formation control for unmanned helicopters based on fully-actuated system approach [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532279-532279.
[5]	Yu JIN, Xia YANG, Lei ZHANG, Jiacheng TANG, Bo ZHU. Enhanced ERG-based control framework: Module design and experimental validation [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532465-532465.
[6]	Zhenyang HAO, Shang CAO, Fengting ZHANG, Lanlan HOU. Design of a hub-mounted active actuation system for helicopters [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(7): 432464-432464.
[7]	Guowang CHEN, Qian TANG, Liu HE. Fault diagnosis method of helicopter tail transmission systems based on graph domain generalization [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(7): 232642-232642.
[8]	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): 632745-632745.
[9]	Xin HUANG, Jiahe ZOU, Shuyi XIAO, Xiaohang LI. An adaptive control strategy for defending against cyber stealthy attacks [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(4): 332290-332290.
[10]	Yongze ZHOU, Yuqi WANG, Ruifeng HU, Wei ZHU, Guohua WANG, Weiguo ZHANG. Numerical simulation of rotor-induced dust cloud based on CG-DEM method [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(16): 133229-133229.
[11]	Kangrui WEI, Xu ZHOU, Yousong XU, Chenkai CAO, Qijun ZHAO. Autonomous rotor speed restoration and stabilization after helicopter engine failure [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(16): 133109-133109.
[12]	Pinggen LUO, Bin LI, Huaji WANG, Xingping LI, Wenqing XIA. New waste heat recovery thermal management configurations and applications for helicopters [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(1): 632007-632007.
[13]	Zhen ZHANG, Jianfeng TAN, Jinglong ZHAO, Linhai CHEN, Yuze YAN, Changliang LIN. Rapid prediction method of bullet damage morphology of helicopter aluminum alloy fuselage [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(1): 232015-232015.
[14]	Ying WANG, Yang LI, Chaoqian CHENG, Zongxia JIAO. Thermal load analysis for aeroengine oil system with extended flight profile [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(1): 632005-632005.
[15]	Linbo WU, Shu MENG, Wei ZHANG, Jianfeng TAN. Parameters of rotor arrangement for sand suppression in helicopter near-earth flight [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(1): 632003-632003.