直升机多模态控制律的全飞行包线设计

根据直升机飞行模态的特点，提出了一种的内／外回路控制结构，将不同飞行模态通过内／外回路结构有机地联系起来，不仅简化了直升机多模态控制律的设计，还简化了模态转换的控制器结构。最后，用这种结构将直升机多模态控制律的全飞行包线设计分解为内回路的控制器切换和外回路的模态转换，设计思路避免了传统的增益调参。

Full envelope multi-mode helicopter flight control system design

A new inner/outer loop structure is proposed, and its application to the design of helicopter flight control system is described. The inner/outer design concept can combine different helicopter response types such as RCAH, ACAH and TRCPH together, which simplifies the design of helicopter multi mode flight control law. The inner loop decouples the dynamics, makes the helicopter stable, and have a rate command response type. The outer loops are used to design different loops individually by output feedback. Furthermore, the full envelope design can be divided into controller switches inside inner loops and mode transfer between outer loops. This concept can avoid traditional gain scheduling.