直升机纵向缆位控制系统建模及仿真研究

Modeling and Simulation of Longitudinal Cable Orientation Control System in Helicopter

针对直升机吊放声纳任务中的缆位控制问题,由于受到海风和洋流的影响,使探测潜艇方位精度不准确。为解决上述问题,建立了一种分段化的纵向缆绳声纳系统动态数学模型。为了真实地仿真缆绳的运动特性,在模型中引入海面风及洋流干扰的影响,并给出了参考缆位角的配平计算方法;最后,结合缆绳和直升机模型,提出了一种模糊PID的缆位控制方法,实现了对缆位角的跟踪与保持。仿真结果表明,建立的数学模型能较好的模拟缆绳运动,设计的控制器具有较强的跟踪性能和抗干扰能力,具备一定的工程应用价值,并为准确测量潜艇目标方位提供了依据。

In the helicopter cable orientation control for sonar suspension, due to the influence of wind and ocean current, the detection of the submarine orientation is not accurate. To solve this problem, a segmented dynamic mathematical model of the longitudinal cable - sonar system was established. Wind and ocean disturbances were in- troduced and the fitting formula of the reference cable angle was raised. Finally, through the combination of cable and helicopter model, a fuzzy - PID cable orientation controller waaas designed to track and keep the reference cable angle. Simulation resuhs show that the cable model is feasible and the controller has strong capability of tracking and anti interference, which indicates that the cable orientation control system is effective and provides a basis for the ac- curate measurement of submarine orientation.