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针对直升机仿真中的飞行控制问题,采用非线性动态逆控制方法设计并实现了直升机的姿态以及航迹控制模型.对直升机运动的各个状态量进行分组,划分“部分逆”回路,分别对各组状态量进行控制回路设计,内外环回路分别采用动态逆方法进行设计.通过内外环回路的解算,实现直升机对输入姿态角的跟踪以及对过载的控制,进而实现航迹控制.动态逆的非线性飞行控制模型设计,使直升机运动方程的非线性和线性部分兼容,较好地实现系统动态特性的解耦,简化了直升机控制系统设计,实现了直升机的各种机动动作.以黑鹰直升机数据为例,对模型进行了验证,结果显示:各控制通道的输出响应速度较快,控制结果较好.
In order to solve the flight control problem in helicopter simulation, a nonlinear dynamic inverse control method is used to design and realize the helicopter’s attitude and trajectory control model.All the helicopter’s state quantities are grouped and divided into “partial inverse” The design of the control loop is carried out for each group of state quantities, and the inner and outer loop circuits are respectively designed by the dynamic inverse method. Through the solution of the inner and outer loop loops, the helicopter can track the input attitude angle and control the overload to realize the track control. The nonlinear flight control model is designed to make the nonlinear and linear part of the helicopter’s motion equation compatible and the decoupling of the dynamic characteristics of the helicopter can be realized well and the design of the helicopter control system is simplified and various helicopter maneuvers are realized. Helicopter data as an example, the model was verified, the results show that: the output of each control channel response speed is faster, the control result is better.