悬停状态电控旋翼桨距控制

针对改进型电控旋翼系统,首先建立了其各控制环节的数学模型,采用串级PID(proportion in-tegration differentiation)控制算法设计了悬停状态下电控旋翼桨距控制律,PID参数根据Ziegler-Nichols方法进行整定.通过仿真计算分析,初步验证了该控制算法对于桨距控制的有效性.以上述控制方法为基础,进一步开展了悬停状态下电控旋翼桨距控制的闭环试验研究,成功的实现了电控旋翼桨距幅值和相位的控制,验证了串级PID电控旋翼桨距控制算法的正确性和有效性. 

Study on the blade pitch control of electrically controlled rotor in hover

In order to control the blade pitch of the electrically controlled rotor(ECR) accurately,the mathematic models of every part of the ECR system were built based on the improved ECR system.Then the cascade proportion integration differentiation(PID) control method was introduced to design the control law for the blade pitch of ECR in hover based on the mathematic models,and the PID parameters were tuned with the Ziegler-Nichols method.The results of the simulation analysis verified preliminarily the effectiveness of this control method.Based on the method,the open-loop and closed-loop control experiments were carried out for collective and cyclic pitch control in hover.Successful control of the amplitude and phase of ECR blade pitch was realized.And the test results verified the accuracy and effectiveness of the cascade PID control method as well.