通过分析直升机协调转弯的工作原理并经仿真计算,确定了协调转弯控制律的结构和参数,完成了协调转弯控制律的设计。针对某型直升机协调转弯存在的具体问题,设计了退出协调转弯切换到航向稳定模态过渡过程中的瞬态处理方法,以克服退出转弯时的航向抖动问题。经试飞验证,该方案有效可行。 By analyzing the working principle of helicopter coordinated turn and the simulation calculation, the structure and parameters of the coordinated turn control law are determined, and the design of coordinated turn control law is completed. Aiming at the specific problems existing in the coordination turning of a helicopter, a transient processing method is designed to avoid the course jittering during the course of the exit from the coordinated turning to the heading steady mode. The test proved that the program is effective.