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能够空投并高效地完成起降、装卸货物,是悬挂负载直升机重要的优点。欲使直升机成功并安全地实现货物装卸,需要直升机成功到达目的地,而且悬挂负载直升机飞行时悬挂物不发生振荡。为了实现悬挂负载直升机的零振荡悬停控制,基于ZG方法,在悬挂负载直升机简化数学模型基础上研究零振荡悬停控制问题。首先通过使用ZG方法对数学模型进行处理,得到相应的控制公式。然后创新性地引入参数的可变性,得到了辅助控制公式,并结合得到了控制器公式组。最后在MATLAB平台上进行计算机仿真,仿真结果验证了该控制器的有效性和精确性,进而证实了ZG方法对于实现悬挂负载直升机零振荡悬停控制的可行性和有效性。
The ability to airdrop and efficiently complete take-off and landing, loading and unloading of cargoes is an important advantage of hanging load helicopters. For helicopters to be successful and safely handled, the helicopters need to reach their destination successfully, and the suspended objects will not oscillate during the flight of the loaded helicopters. In order to realize the zero-oscillation hovering control of suspension-loaded helicopter, based on the ZG method, the zero-oscillation hovering control problem is studied based on the simplified mathematical model of the suspension-load helicopter. First of all, by using the ZG method to deal with the mathematical model, get the corresponding control formula. Then, the variability of parameters is introduced innovatively, and the auxiliary control formulas are obtained, and the controller formula groups are obtained. Finally, the computer simulation is carried out on the MATLAB platform. The simulation results verify the effectiveness and accuracy of the controller, which proves the feasibility and effectiveness of ZG method for zero-oscillation hovering control of suspended load helicopters.