基于x-LMS算法的直升机主动消振电力作动器系统研究  

Research on Helicopter Active Vibration Elimination Electric Actuator System Based on x‑LMS Algorithm

作　　者：郝振洋[1] 杨健 张嘉文 曹鑫[1] 王涛 HAO Zhenyang;YANG Jian;ZHANG Jiawen;CAO Xin;WANG Tao(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,P.R.China)

机构地区：[1]南京航空航天大学自动化学院,南京211106

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2024年第1期53-65,共13页南京航空航天大学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.52077100);the Aviation Science Foundation(No.201958052001)。

摘　　要：直升机前飞时,气动环境会导致不同方位角的桨叶出现气动载荷的瞬间不对称,通过基础结构传递会在机身形成大幅度的低频振动。为了消除多方向幅值变化的振动力,利用结构响应主动控制原理,设计了基于x-LMS算法的主动消振电力作动器系统,并进行了减振实验。首先,通过比较确定了单台作动器中两台电机同向旋转的方案。通过两台作动器的组合使用,推导出输出力的数学模型。其次,采用负载相位差交叉耦合的控制策略设计系统控制框图。针对存在耦合的相位外环,通过回差阵特征值法确定满足系统稳定裕度要求的参数范围,再根据灵敏度函数和输入跟踪性能在所得的参数稳定域内寻找最优解。然后,提出了基于x-LMS算法的直升机主动振动控制系统,并通过仿真验证了该系统的减振效果。最后,研制的实验样机进行了动稳态实验以及减振实验,验证了系统的实际减振效果。When the helicopter flies forward,the aerodynamic environment will lead to the instantaneous asymmetry of aerodynamic load on the blades with different angles,which will form a large range of low-frequency vibration on the fuselage through the transmission of the infrastructure.To eliminate the vibration force with multi-directional amplitude variation,using the active control principle of structural response,an active vibration elimination electric actuator system based on the x-LMS algorithm is designed,and the vibration reduction experiment is carried out.Firstly,the scheme of two motors rotating in the same direction in a single actuator is established by comparison.Through the combination of actuators,the mathematical model of output force is deduced.Secondly,the system control block diagram of load phase difference cross-coupling is designed.For the phase outer loop with coupling,the parameter range that meets the requirements of the system stability margin is determined by the method of characteristic value of the feedback matrix,and then the optimal solution is found in the obtained parameter stability region according to the sensitivity function and input tracking performance.Then,a helicopter active vibration control system based on the x-LMS algorithm is proposed,and the damping effect of the system is verified by simulation.Finally,the experimental prototype is developed,the dynamic experiment and steady-state experiment are carried out,and the actual damping effect of the system is verified by the vibration elimination experiment.

关 键 词：结构响应主动控制 消振电力作动器 回差阵特征值法 x-LMS算法 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]