直升机吊挂控制系统飞行品质分析

基于直升机指令模型、PID控制和动态逆控制理论,建立了三种直升机吊挂耦合系统控制模型以研究吊挂对直升机飞行品质的影响。依据军用旋翼飞行器飞行品质规范(ADS -33E)和直升机带吊挂飞行的飞行品质要求,对各控制模型进行了仿真和频域分析,并研究了吊挂质量和吊索长度对系统飞行品质的影响。结果表明:引入吊挂摆角状态反馈可提高系统操纵品质,系统幅值裕度达到126 dB,增益带宽为331 rad/s。而吊挂摆角的滞后反馈可使吊挂摆角在1 rad/s频率附近的幅值衰减减少一半,但系统操纵品质变差,增益带宽仅为062 rad/s。此外,较大的吊挂质量和较长的吊索长度将严重影响系统的飞行品质。 

Flying qualities analysis for helicopter-slung load control system

Three helicopter-slung load control systems were developed to study the effect of slung load on helicopter’s flying qualities, based on command filter system, PID control and dynamic inverse control. Control system were investigated using simulation and frequency domain analysis according to the requirements presented by ADS-33E and flying qualities criteria for rotorcraft with slung load. Subsequently, the effect of slung load mass and sling length on helicopter flying qualities was analyzed. The result showed that the load state feedback can improve helicopter’s handling qualities, the gain margin reached 126 dB and the bandwidth was 331 rad/s. The lagged cable angle feedback can damp the load swing effectively at the cost of getting the bandwidth down to 062 rad/s, and the helicopter with a long sling and heavy load may get poor flying qualities.