基于最优分配的复合式高速无人直升机纵向控制设计与验证  

Longitudinal Control Design and Verification of Compound High Speed Unmanned Helicopter Based on Optimal Allocation

作　　者：曹宇燕 金鑫 彭永涛[1] 王琳[1] 王云鹤 Cao Yuyan;Jin Xin;Peng Yongtao;Wang Lin;Wang Yunhe(AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710075,China)

机构地区：[1]航空工业西安飞行自动控制研究所,陕西西安710075

出　　处：《航空科学技术》2023年第11期75-80,共6页Aeronautical Science & Technology

摘　　要：高速直升机因其独特构型造成过渡段操纵复杂,控制系统设计难度大。本文针对复合式共轴双旋翼高速无人直升机,设计了全飞行模式控制,为高速直升机的安全飞行提供理论基础。采取分块建模思路,搭建了无人直升机数学模型,设计了过渡模式的操纵策略。采用经典控制理论设计了低速模式和高速模式纵向飞行控制律,低速模式时,为提高位置响应的快速性,直接采用并行控制结构,将位置指令引入姿态通道;高速模式时,在俯仰通道引入航迹倾斜角补偿损失高度。针对过渡段的控制分配问题,分别考虑速度和操纵面反应速度快慢的影响,设计分配权值,采用加权伪逆法进行最优分配求解。仿真结果表明,所设计的纵向飞行控制律可以有效合理分配过渡段的不同操纵量,实现平滑过渡飞行。The unique configuration of high speed helicopters results in complicated maneuvering in the transition mode and difficulties in the control system design.A full flight mode control system was designed for a compound coaxial dual-rotor high speed unmanned helicopter,providing a theoretical basis for the safe flight of high speed helicopters.The mathematical model of unmanned helicopter was built by the block method,and the control strategy of transition mode was designed.Based on the classical control theory,the longitudinal flight control law of low speed mode and high speed mode were designed.In order to improve the rapidity of position response in low speed mode,parallel control structure was directly adopted,and position command was introduced into attitude channel.In high-speed mode,flight path angle was introduced into the pitch channel to compensate the loss height.For the control allocation problem of transition mode,considering the influence of speed and control surface responsiveness respectively,the optimal allocation weight was designed and solved by the weighted pseudo inverse method.Simulation results show that the designed longitudinal flight control law can effectively and reasonably assign different control variables in transition mode and realize smooth transition flight.

关 键 词：高速直升机 飞行控制 操纵策略 控制分配 过渡模式 

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]