基于直升机/发动机非线性综合仿真模型的ALQR控制器设计

构建了UH-60A直升机六自由度非定常、非线性气动力模型以及完整的直升机/涡轴发动机非线性综合仿真模型。使用增广LQR方法设计了直升机飞行控制器，包线内大量仿真结果及与 控制器效果的对比表明该控制器解耦性能、指令跟踪性能优越，鲁棒性强。此外，该控制器设计过程简单和调参方便。借助上述综合仿真模型研究了发动机闭环系统与直升机的功率匹配关系，数字仿真表明，发动机能够满足直升机机常规飞行任务下的功率需求，功率涡轮转速下垂量满足直升机飞行操纵品质规范（ADS-33E）的要求。

ALQR Controller Design based on non-linear Integrated Helicopter/Engine Model

The unsteady and non-linear helicopter model of UH-60A was founded, while the non-linear integrated helicopter/engine model was also constructed. Then, an augmented LQR(ALQR) flight controller was designed. Simulation experiments on the integrated helicopter/engine model, into which the controller was put, were conducted. Numerical simulation result in full envelope and the comparison with controller demonstrated that the ALQR flight controller had its superiority of decoupling, command tracking and robustness. In addition, it was also found that the closed-loop system of engine could satisfy the need of power required by the helicopter while in usual task, and the power turbine speed met the requirement of ADS-33E.