建立了某型直升机的小扰动运动方程,并将该模型分解为纵向模型和侧向模型,提出了前飞控制律应达到的稳态指标。以该型直升机为被控对象,采用输出反馈线性二次型调节器(LQR)技术设计了前飞控制律。通过数字仿真验证了控制律能够较好地实现直升机的前飞性能,为工程应用提供了一定的理论依据。 A small perturbed equation of motion for a helicopter is established. The model is decomposed into a longitudinal model and a lateral model, and the steady-state index to be achieved for the forward-flight control law is proposed. Taking the helicopter as the controlled object, the forward flight control law was designed by the output feedback linear quadratic regulator (LQR) technology. The numerical simulation proves that the control law can realize the helicopter’s forward flight performance well and provides a theoretical basis for engineering application.