直升机控制系统的内/外回路设计概念及其应用

Inner/Outer Loop Design Concept and Its Application to Helicopter Flight Control System

提出了一种新型的内／外回路控制结构，系统地阐述了此结构在直升机控制系统中的应用。内回路主要使各个通道解耦，改善系统的稳定性，并使系统具有速率响应特性；外回路采用输出反馈，对已解耦的不同通道分别进行单回路设计。其中内回路的解耦特性是内／外回路设计概念的基础，采用特征结构配置技术有效地实现了内回路的通道解耦。采用内／外回路结构所设计的直升机控制系统具有良好的指令跟踪性能、抗干扰特性以及良好的解耦响应特性。实例研究充分展示了这些特点。

A new inner/outer loop structure is proposed, and its application to the design of helicopter flight control system is described. The inner loop decouples the dynamics, makes the helicopter stable, and make the system have a rate command response type. The outer loop is used to design different loops individually by output feedback. The key role of the inner/outer loop concept is to make the system decouple, and an effective eigenstructure assignment is used to achieve this objective. The study shows that inner/outer loop structure is very effective in command tracking, disturbance rejection and inter axis coupling characteristics.