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针对直升机飞控系统和驾驶员在回路所引起的人机耦合振荡问题,提出了闭环稳定性分析方法。以某型直升机纵向辨识模型为基础,结合McRuer驾驶员模型和设计的增稳系统,构建了完整的人机耦合分析模型。综合运用经典控制理论中的基本分析方法并结合实际背景,研究了直升机固有模态的根轨迹以及时域、频域特性,对比分析了人机耦合诱发振荡的表现、原因。同时,从控制器设计和驾驶员操纵两个环节分析,提出了解决人机耦合诱发振荡的可行措施。仿真结果表明,所提出的人机耦合诱发振荡的分析方法可以定性、定量分析人机耦合振荡的物理本质并有效地解决研究问题,在飞控设计和飞行操纵应用中具有理论参考意义。
Aiming at the man-machine coupled oscillation caused by helicopter flight control system and driver in the circuit, a closed-loop stability analysis method is proposed. Based on the longitudinal identification model of a helicopter, a complete man-machine coupling analysis model is constructed based on the McRuer driver model and the designed augmentation system. Based on the basic analysis methods of classical control theory and the actual background, the root locus and the time-domain and frequency-domain characteristics of the helicopter’s natural mode are studied. The performance and causes of human-machine-coupled induced oscillation are contrasted and analyzed. At the same time, from the two aspects of controller design and driver’s manipulation analysis, the feasible measures to solve the man-machine coupling induced oscillation are put forward. The simulation results show that the proposed analysis method of human-machine coupled induced oscillation can qualitatively and quantitatively analyze the physical essence of human-machine coupled oscillations and solve the research problem effectively, which has theoretical reference significance in flight control design and flight control applications.