直升机主减磁流变隔振系统自适应控制研究

Adaptive Control of Magnetorheological Vibration Isolation Systems of Helicopter Main Reducers

为了有效减小直升机旋翼通过主减速器向机身传递的多方向、宽频带振动,提出一种基于全系数自适应控制的新型直升机主减磁流变隔振系统。首先,对剪切阀式磁流变阻尼器进行力学特性测试,并采用Bouc-Wen模型建立磁流变阻尼器动力学模型。其次,介绍主减磁流变隔振系统的结构方案及其工作原理,并采用拉格朗日能量法推导系统的动力学方程,对其动力学特性进行仿真分析。随后,针对主减磁流变隔振系统的振动特性,设计基于特征模型的全系数自适应控制器,在扫频激励下进行数值仿真。最后,搭建磁流变隔振实验台,进行垂向振动控制验证实验。结果表明,与被动隔振及天棚控制相比,基于特征模型的全系数自适应控制器具有更好的隔振性能,能有效减小直升机旋翼向机身传递的振动。

In order to reduce the multi-direction and broadband vibration transmitted from the helicopter rotor to the fuselage through the main reducer,a magnetorheological vibration isolation system of the helicopter main reducer with allcoefficient adaptive controller was presented.Firstly,the mechanical characteristics of the designed shear valve magnetorheological damper(MRD)were tested,and the dynamic model of the MRD was established by using the hyperbolic tangent model.Secondly,the structure scheme and working principle of the magnetorheological vibration isolation system of the helicopter main reducer were introduced,the dynamic equation of the system was derived by the Lagrange energy method,and its dynamic characteristics were simulated and analyzed.Then,according to the vibration characteristics of the main magnetorheological isolation system,an all coefficient adaptive controller based on the characteristic model was designed,and numerical simulation was carried out under the sweep excitation.Finally,a magnetorheological vibration isolation experimental platform was built,and the vertical vibration control experiment was carried out.The results show that compared with passive vibration isolation and canopy control,the all coefficient adaptive controller based on characteristic model has better vibration isolation performance and can effectively reduce the vibration transmitted from helicopter rotor to fuselage.