基于波动控制的直升机吊挂鲁棒减摆技术  

Robust anti-swing technology for helicopter slung load based on wave control

作　　者：李红宏 韩艳铧 LI Honghong;HAN Yanhua(School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学航天学院,南京211106

出　　处：《北京航空航天大学学报》2024年第5期1629-1638,共10页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：直升机在运输重型货物从平飞到悬停的机动过程中,会产生许多稳定性问题,减小吊挂摆角幅度具有重要意义。基于波动控制的方法为直升机吊挂系统设计一种减摆控制器;采用拉格朗日分析力学法,建立直升机吊挂耦合系统四自由度非线性纵向运动模型,采用小扰动的方法在平衡点处对所建模型进行线性化;在此基础上,基于特征值配置法设计状态反馈控制器;设计波动控制器来减小摆角控制具有良好的动态性能和稳态性能。在仿真中对吊挂载荷质量进行拉偏,证明所设计波动控制器具有较强的鲁棒性,结果表明:所设计波动控制器有效。Application of helicopter to transport heavy and bulky loads creates various stability problems especially during maneuvering from level flight to hovering;thus,it is significant to reduce the swing amplitude of suspended loads.An anti-swing controller is designed for a helicopter with slung loads by using wave control method.A nonlinear mathematical model with four degrees of freedom for the helicopter is developed by applying Lagrangian analysis method.Then the developed model is linearized by little disturbance method in equilibrium operating points.On this basis,a state feedback controller is designed with eigenvalue configuration method.An anti-swing wave controller is then designed to reduce the pendulum angle.The simulation shows that the control of the pendulum angle and helicopter position has good dynamic performance and stability.Different biases of slung-load mass in the simulation verify that the designed wave controller has strong robustness,thus demonstrating the effectiveness of the designed wave controller.

关 键 词：直升机吊挂系统 动力学模型 状态反馈 波动控制 减摆控制器 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]