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为克服直升机单点逆模型的不足,提出了旋转逆动力学建模新方法,实现了大包线下的姿态控制。该方法采用模块化建模思想,首先通过转动方程逆解算,将姿态角速度指令转化为期望的纵、横向挥舞角和尾桨偏航力矩指令等三个关键状态量,然后利用主旋翼挥舞动态逆解算和尾桨桨距指令逆解算,由关键状态量解算出期望的纵、横向周期变距角和尾桨桨距角,进而建立了直升机旋转逆动力学模型。在此基础上,完成了姿态控制系统设计。仿真结果表明,该模型能够在大包线范围内较准确地反映直升机的旋转动态逆特性,系统能够很好地实现姿态控制目标,在各类干扰因素存在时体现出了较强的性能鲁棒性。
In order to overcome the deficiencies of helicopter single-point inverse model, a new method of rotational inverse kinematics modeling is proposed, which realizes attitude control under big bag line. In the method, a modular modeling method is adopted. Firstly, by turning the inverse solution of the equations, the attitude angular velocity commands are transformed into the three key state quantities of the desired longitudinal and transverse wiggle angles and the tail rotor yaw moment commands. Then, Inverse solution and reverse tail rotor pitch command, the expected longitudinal and transverse pitch angles and tail rotor pitch angles are calculated from the critical state solutions, and then a helicopter inverse rotation dynamics model is established. On this basis, the attitude control system design is completed. The simulation results show that the model can accurately reflect the helicopter’s rotational dynamic inverse characteristic in the range of large envelope, and the system can achieve the goal of attitude control very well. It shows a strong performance when all kinds of interference factors exist Sex.