直升机抛放吊挂后的最优操纵与分析  

Optimal control and analysis for helicopter after releasing slung load

作　　者：王洛烽 陈仁良[1] 严旭飞 WANG Luofeng;CHEN Renliang;YAN Xufei(National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics,College of Aerospace Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航空学院直升机旋翼动力学国家级重点实验室,南京210016

出　　处：《航空动力学报》2021年第3期543-552,共10页Journal of Aerospace Power

基　　金：国家自然科学基金(11672128);江苏高校优势学科建设工程资助项目。

摘　　要：为了研究吊挂抛放后回到稳定状态的合理操纵方式以增加安全性且辅助控制律设计,开发并验证了直升机带吊挂模型,使用轨迹优化方法得到了直升机抛放吊挂物后的最优操纵时间历程及相应的状态变化历程。在相同的初始条件下,计算了不同的性能指标对应的优化结果,分析并确定了性能指标的最终配置方式。研究了吊挂物质量对优化结果的影响。根据从悬停状态抛放吊挂的算例结果可得:抛放吊挂物后,驾驶员主要控制垂向和纵向通道,而横向和偏航通道所需操纵较少,且吊挂物质量越大,所需的操纵幅值越大。The proper manipulations after releasing a slung load for safety and for control law design assistance were studied. A helicopter slung load model was developed and validated at first. Trajectory optimization methodology was adopted to obtain the optimal time histories of controls and states after the release to stabilize the helicopter. Optimization results of different objectives were compared, and the configuration of the objective function was determined by analyzing the results. The optimal control required after the release was summarized and the effects of slung load mass variations on results were investigated. According to the results of releasing the slung load at hover, the pilot should focus on the collective stick control and longitudinal stick control, while the lateral stick control and pedal displacement could be neglected. The heavier the slung load, the larger control amplitude was required for stabilization.

关 键 词：最优操纵 直升机吊挂系统 轨迹优化 驾驶员操纵 非线性方程 吊挂抛放 

分 类 号：V212.4[航空宇航科学与技术—航空宇航推进理论与工程]