直升机自转下滑飞行力学建模与控制器设计

Helicopter flight dynamic modeling and controller design during autorotation glide

针对直升机自转下滑飞行力学建模及控制器设计开展研究。首先,建立了发动机失效后的直升机动力学模型。然后,对直升机自转下滑状态进行配平计算,得到各前飞速度所对应的稳态下降率;对给定前飞速度及下降率对不同总距操纵下的旋翼气动特性进行了计算;结合基于鲁棒参数设计法的正常飞行状态速度跟踪系统设计了基于下降率误差的PI控制器。最后,开展了仿真验证及结果分析。结果表明,该PI控制器能使直升机转速在一定时间内恢复至期望值附近并稳定,引导直升机成功进入自转下滑,该研究对直升机发动机失效后的自转下滑控制器设计具有一定的指导作用。

Helicopter's autorotation flight dynamic modeling and control system design were studied in this paper.Firstly,a helicopter dynamics model after engine failure was established.Then,a trim calculation of autorotation was performed to obtain the steady-state decent rate corresponding to the forward speed during autorotation.The aerodynamic characteristics in different collective pitch under the given forward speed and decent rate were calculated.The PI controller based on descent rate error was designed in combination with a normal flight state speed following system based on the robust parameter design method.Finally,simulation verification and result analysis were conducted.The results show that the helicopter rotational speed can return to the desired value and stabilize within a certain time by using the prescribed PI controller,so that the helicopter can successfully enter the steady autorotation.This study is a guide to the design of the autorotation controller after helicopter engine failure.