舰尾流随高扰动模型对直升机着舰悬停控制的影响研究  

Research on the Influence of Ship Wake with High Disturbance Model on Helicopter Landing and Hovering Control

作　　者：张琳 杜智慧 罗瑜 武帆 ZHANG Lin;DU Zhihui;LUO Yu;WU Fan(School of Electrical Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China;School of Automatic,Northwestern Polytechnical University,Xi'an 710129,China)

机构地区：[1]陕西工业职业技术学院电气工程学院,陕西咸阳712000 [2]西北工业大学自动化学院,西安710129

出　　处：《计算机测量与控制》2022年第3期106-113,共8页Computer Measurement &Control

基　　金：院级自然科学类科研项目(2021YKYB-045)。

摘　　要：大海况下存在的复杂舰尾流严重影响直升机着舰时的飞行姿态,针对常规舰尾流模型仅适用于研究直升机纵向运动受干扰的问题,在美军标MIL-F-8785C描述的舰尾流模型基础上,提出增加随高度变化的垂向扰动分量,建立舰尾流随高扰动模型,以便切合实际地反映垂向干扰的作用强度;将该模型引入直升机着舰悬停系统后,针对传统PID控制对高度保持和位置控制效果不佳的问题,提出基于前馈补偿的改进PID控制;对比仿真结果表明,所提控制方法抗舰尾流干扰性强,具有良好的鲁棒性,控制精度优于传统的PID控制,实现了舰尾流干扰下直升机着舰悬停的稳定控制,有效提高了着舰飞行的安全性。The complex ship wake under large sea conditions seriously affects the flight attitude of helicopter landing.In view of the problem that the conventional ship wake model is only suitable for studying the interference of helicopter longitudinal motion,based on the ship wake model described in the American Standard MIL-F-8785 C,this paper proposes to increase the vertical disturbance component varying with height and establish the ship wake disturbance model with height,so as to realistically reflect the action intensity of vertical interference.After the model is introduced into the helicopter landing and hovering system,aiming at the poor effect of traditional PID control on height maintenance and position control,an improved PID control based on feedforward compensation is proposed.The comparative simulation results show that the proposed control method has strong anti ship wake interference and good robustness,the control accuracy is better than traditional PID control,the stable control of helicopter landing and hovering under ship wake interference is realized,and the safety of landing flight is effectively improved.

关 键 词：直升机 舰尾流 垂向高度 着舰悬停 扰动抑制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]