直升机协调转弯机理分析及控制律设计

通过分析直升机协调转弯的工作原理并经仿真计算，确定了协调转弯控制律的结构和参数，完成了协调转弯控制律的设计。针对某型直升机协调转弯存在的具体问题，设计了退出协调转弯切换到航向稳定模态过渡过程中的瞬态处理方法，以克服退出转弯时的航向抖动问题。经试飞验证，该方案有效可行。

Mechanism Analysis and Controller Design for the Coordinated Turns of a Certain Helicopter

This paper present a controller design method for the coordinated turns to deal with the specific problems of a certain helicopter. Before that, the structure and parameters of the control law were determined through analysis on the operation principle. In order to overcome the chattering problem, this paper proposed a rule on correcting the heading reference value on the basis of the process analysis of coordinated turns. Finally, simulation results and flight tests demonstrated the ef- fectiveness and feasibility of the proposed methods.