一种图形化多回路直升机控制律鲁棒选参方法

A Graphic Robust Parameter Selection Method for Rotorcraft Multiloop Control Law Desigen

直升机基于姿态和速率反馈的内回路控制律设计可以归为典型的多回路控制律选参问题。提出了一种图形化多回路控制律鲁棒选参方法,将针对闭环系统的指标要求直接映射到增益参数平面,从而以直观的形式实现面向ADS-33E品质规范的控制律鲁棒参数设计。该算法可普遍应用于多回路控制律选参问题的求解,对SR-61悬停模态控制律设计的算例显示了它的直观和有效。该方法已应用于型号设计中,取得了较好的效果。

The inner loop control law design based on attitude and rate feedback for the rotorcraft flight control can be summarized as a typical subject on parameter selection for multi-loop control configuration. A graphic robust parameter selection method for multi.loop control law design was proposed, which mapped the rating area on the close-loop system performance into parameter plane about feedback coefficients, and then conveniently realized the selection of robust parameters corresponding directly to requirements of ADS-33E. The given algorithm can be used easily to choose coefficients for control law with multi-loop configuration, and a design example with SR-61 hover model shows its convenience and effectiveness. This method has been used in a practical flight control system design for rotorcrafts and has been proven to be effective and efficient.