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发展了一种集成旋翼状态反馈(Rotor-State Feedback,RSF)控制的飞行控制系统,以提升直升机在大气紊流环境中低速飞行时的飞行品质。基于经典显模型跟踪控制系统,对机体和旋翼状态反馈增益进行协同设计,以综合优化旋翼/机体耦合动稳定性和直升机在飞行品质相关频率范围(1~12rad/s)内的紊流缓和能力。同时,设计了一个旋翼前馈控制以增强直升机的操纵响应特性。对直升机飞行品质的线性分析表明:RSF控制的引入能够在实现旋翼/机体耦合动稳定性控制的同时使滚转和俯仰通道的指令跟踪延迟时间分别降低21.87%和25.82%,扰动抑制带宽分别提升243.22%和72.56%。最后以飞行试验验证的高阶非线性飞行动力学模型进行数值模拟验证控制系统。结果表明:RSF控制的引入使直升机滚转、俯仰角速率对紊流响应的标准差分别降低55.68%和26.81%。集成RSF的控制系统能够提升直升机在紊流中的飞行品质。
A flight control system integrating Rotor-State Feedback (RSF) control is developed to improve the flight quality of helicopters at low speed in turbulent atmosphere. Based on the classical model tracking control system, the state feedback of the rotor and the rotor is synergistically designed to optimize the rotor / body coupling stability and the turbulence mitigation ability of the helicopter in the flight-related frequency range (1 ~ 12 rad / s) . At the same time, a rotor feedforward control was designed to enhance the helicopter’s steering response. The linear analysis of helicopter flight quality shows that the introduction of RSF control can reduce the command tracking delay time of roll and pitch channels by 21.87% and 25.82% respectively, and increase the disturbance rejection bandwidth while achieving rotor / body coupled dynamic stability control 243.22% and 72.56%. Finally, the numerical simulation and verification control system of the high-order nonlinear flight dynamics model verified by flight test is carried out. The results show that the RSF control reduces the standard deviation of helicopter roll and pitch rate to turbulence response by 55.68% and 26.81% respectively. RSF integrated control system to improve helicopter turbulence in flight quality.