横列式直升机纵向鲁棒控制系统设计及半实物仿真  

Longitudinal Robust Control System Design and Hardware-in-the-Loop Simulation of Horizontal Helicopter

作　　者：齐浩 王泽河[1] 杨骁[2] 朱纪洪[2] Qi Hao;Wang Zehe;Yang Xiao;Zhu Jihong(College of Mechanical and Electrical Engineering Hebei Agriculture University,Baoding 071001,China;College of Computer Science and Technology,Tsinghua University,Beijing 100084,China)

机构地区：[1]河北农业大学机电工程学院,保定071001 [2]清华大学计算科学与技术系,北京100804

出　　处：《航天控制》2020年第3期54-60,共7页Aerospace Control

基　　金：国家自然科学基金(61603210);中国航空科学基金会(20160758001)。

摘　　要：在考虑起落架收放、燃油消耗等大重心变化影响以外,针对燃油油面变化等因素产生的小幅度、高频次重心变化对横列式直升机重心的影响,建立了横列式直升机的纵向动力学模型,通过基于同伦连续原理修改的Nelder-Mead Simplex优化算法得到了横列式直升机的配平条件,并以此为基础提出了一种基于角加速度估计补偿的强鲁棒控制方法,根据半实物仿真实验结果,表明了提出的控制设计方法的有效性。In this paper,the influence of the center of gravity change on the center of gravity of the horizontal helicopter is determined by the factors such as the landing gear retraction and fuel oil surface change.The longitudinal dynamics model of the horizontal helicopter is established.The Nelder-Mead implex optimization algorithm based on the homotopy continuous principle is modified.The balance condition of the horizontal helicopter is obtained.this,a strong robust control method based on angular acceleration estimation is proposed.According to the results of the-in-the-simulation experiment,the effectiveness of the proposed control design method is demonstrated.

关 键 词：横列式直升机 飞行器重心 鲁棒控制 纵向静稳定 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]