无人倾转旋翼机内外回路显模型控制律设计  

Study on Inner and Outer Loop Explicit Model Control Algorithm of Unmanned Tilt-rotor

作　　者：杨萌 刘锋[1] 刘畅 YANG Meng;LIU Feng;LIU Chang(Naval Department of Equipment of the PLA,Beijing 100071,China)

机构地区：[1]海军装备部,北京100071

出　　处：《直升机技术》2022年第1期44-49,53,共7页Helicopter Technique

摘　　要：针对无人倾转旋翼机直升机模式的典型飞行状态,分析全机操纵舵面在该飞行模式的冗余分配策略,开展控制律结构设计以及基于内外回路的显模型解耦控制律设计方法研究。将显模型设计、一拍跟踪解耦控制律设计与倾转旋翼机的操纵特性进行综合,实现了内回路的解耦与外回路跟踪控制。通过对典型配平状态的数学模型进行数值仿真,得出结果表明:控制系统姿态控制回路的带宽大于4 rad/s,具有良好的控制品质;在参考模型摄动20%的情况下,验证了控制系统仍具有良好的稳定性和鲁棒性。The multi-actuators distributed strategy was decided in the helicopter flight mode of a unmanned tilt-rotor.The control structure and decouple control law were also designed,based on inner and outer loop explicit model following algorithm.In this paper,the decoupled of inner loop and the following control of outer loop were achieved by compressive considering the control feature of tilt-rotor,explicit model designing and one step following.According to the trimmed numerical simulation results,the bandwidth of attitude loop excessed 4 rad/s,with good control quality.Also,in the condition of 20%disturbance of the reference model,the proposed algorithm had shown excellent stability and robustness.

关 键 词：解耦控制 显模型 无人倾转旋翼机 鲁棒性 

分 类 号：V249[航空宇航科学与技术—飞行器设计]