基于小扰动方程的直升机前飞LQR控制律设计与仿真

Design and Simulation of Forward Flight LQR Control Law for Helicopter Based on Small Perturbation Equations

建立了某型直升机的小扰动运动方程,并将该模型分解为纵向模型和侧向模型,提出了前飞控制律应达到的稳态指标。以该型直升机为被控对象,采用输出反馈线性二次型调节器(LQR)技术设计了前飞控制律。通过数字仿真验证了控制律能够较好地实现直升机的前飞性能,为工程应用提供了一定的理论依据。

The small perturbation equations of a helicopter were established,and then the model was divided into two parts,the longtitudinal model and the lateral model.The steady state indicators that a forward flight control law should achieve were proposed as well.With the helicopter taken as a control object,a forward flight control law was designed by means of the linear quadratic regulator (LQR) of output feedback.The simulation results demonstrated that the forward flight control law is effective to carry out the forward flight function,and it provided a theoretical basis for engineering application.