直升机鲁棒控制器的设计研究

提出一种改进直升机悬停性能的控制方案。在直升机悬停控制器原速度回路的基础上增加鲁棒控制器,可提高直升机悬停参数变化的鲁棒性能。详细叙述了鲁棒控制器结合悬停控制器的设计方法,并用仿真结果说明了鲁棒控制器在本算例中所起的作用     

倾转螺旋桨飞行器桨叶的气动设计研究

针对小型倾转螺旋桨独特的工作特性,在研究国外有关倾转旋翼桨叶设计现状的基础上,本文运用了遗传算法对桨叶的参数进行了寻优设计分析,以满足不同飞行状态的性能要求。设计结果表明,由本文提出的方法设计的螺旋桨与普通螺旋桨相比,在不损失巡航推进效率的同时,可显著增加悬停效率,提高飞机的悬停性能。     

直升机控制增稳系统的一种综合设计方法

提出了特征结构配置/奇异值灵敏度分析/回路传递复现（LTR）综合设计方法,为某直升机在悬停飞行状态下,设计了控制增稳系统,并对飞机系统状态参数改变及由某个速度下过渡到飞机悬停状态的过渡过程进行了数字仿真。     

基于遗传算法的直升机鲁棒飞行控制器设计

以旋翼机驾驶品质要求 ADS-33为设计目标,采用 H∞ 混合灵敏度方法设计直升机在低速飞行时的鲁棒控制器,设计中利用遗传算法优化加权阵参数,找到同时满足频域和时域性能要求的控制器。以 UH-60 A直升机为对象,所设计的直升机飞行控制系统不仅具有鲁棒稳定性,而且满足 ADS-33D水平 1操纵品质要求。     

无人直升机自动航线飞行控制律设计与仿真

无人直升机具有悬停、小速度全向机动、大速度前飞等飞行能力,其飞行包线范围大,对飞行控制律设计的要求很高。无人直升机在进行自动航线飞行时,不仅涉及的飞行模态多,而且需要满足复杂的飞行航线需求。根据无人直升机复杂的航线飞行特点,对其航线飞行过程进行区域划分,针对不同划分区域,采用工程上常用的PID控制方法和衰减软化技术,设计了高度控制器、纵向位置控制器、横向位置控制器、协调转弯控制器和控制器问的切换算法,并进行典型航线飞行的数字仿真。仿真结果显示,无人直升机飞行航迹与设定航线的重合性较好,模态切换稳定平滑,从而验证了无人直升机自动航线飞行控制律设计的正确性,为后续工程应用奠定基础。     

Aerodynamic optimization design of general parameters for cycloidal propeller in hover based on surrogate model

A surrogate-model-based aerodynamic optimization design method for cycloidal propeller in hover was proposed, in order to improve its aerodynamic efficiency, and analyze the basic criteria for its aerodynamic optimization design. The reliability and applicability of overset mesh method were verified. An optimization method based on Kriging surrogate model was proposed to optimize the geometric parameters for cycloidal propeller in hover with the use of genetic algorithm. The optimization results showed that the thrust coefficient was increased by 3.56%, the torque coefficient reduced by 12.05%, and the figure of merit (FM) increased by 19.93%. The optimization results verified the feasibility of this design idea. Although the optimization was only carried out at a single rotation speed, the aerodynamic efficiency was also significantly improved over a wide range of rotation speeds. The optimal configuration characteristics for micro and small-sized cycloidal propeller were: solidity of 0.2-0.22, maximum pitch angle of 25°-35°, pitch axis locating at 35%-45% of the blade chord length.      

Aerodynamic design optimization of helicopter rotor blades including airfoil shape for hover performance

This study proposes a process to obtain an optimal helicopter rotor blade shape for aerodynamic performance in hover flight. A new geometry representation algorithm which uses the class function/shape function transformation (CST) is employed to generate airfoil coordinates. With this approach, airfoil shape is considered in terms of design variables. The optimization process is constructed by integrating several programs developed by author. The design variables include twist, taper ratio, point of taper initiation, blade root chord, and coefficients of the airfoil distribution function. Aerodynamic constraints consist of limits on power available in hover and forward flight. The trim condition must be attainable. This paper considers rotor blade configuration for the hover flight condition only, so that the required power in hover is chosen as the objective function of the optimization problem. Sensitivity analysis of each design variable shows that airfoil shape has an important role in rotor performance. The optimum rotor blade reduces the required hover power by 7.4% and increases the figure of merit by 6.5%, which is a good improvement for rotor blade design.     

悬停状态共轴双旋翼桨叶扭转气动特性

针对桨叶气动性能的提高,建立了一套基于悬停状态的共轴双旋翼桨叶扭转设计方法.在该方法中,设定单旋翼桨叶扭转几何安装角,通过仿真验证,合理的桨叶扭转,可提高旋翼性能7.0%;根据桨尖涡对桨叶的影响,以及共轴双旋翼气动特性,分别对桨尖几何安装角及上下旋翼几何安装角进行修正,实现悬停状态共轴双旋翼桨叶扭转设计.最后,对所设计的共轴双旋翼进行模拟仿真,结果表明该扭转翼较未经扭转的矩形翼升力提高了10.3%.      

悬停状态下旋翼桨叶气动弹性稳定性分析及试验

研究直升机旋翼桨叶在悬停状态下挥舞-摆振-扭转全耦合运动的气弹稳定性。应用哈密顿原理推导桨叶运动的非线性偏微分方程, 推导气动载荷时采用了准定常气动理论, 并应用Galerkin有限元素法离散空间变量, 利用特征值分析来研究系统的稳定性。以海豚直升机为工程实例, 分析计算了其桨叶的气弹稳定性, 还进行了旋翼模型气弹稳定性试验研究, 确定旋翼结构参数对气弹稳定性的影响, 并同计算结果进行了比较, 得到了一些有意义的结论。      

直升机旋翼流场特性PIV试验分析

基于PIV技术对悬停和前飞状态的模型旋翼流场进行了试验研究,对比分析了不同前飞速度、总距、转速、方位等条件下的旋翼速度场和桨尖涡运动,获得了在悬停和前飞条件下旋翼流动特性,为旋翼非定常流动机理研究和桨叶气动设计提供试验支持.     

高超声速飞行器混合灵敏度控制器设计

由于高超声速飞行器飞行过程中存在无法预知的扰动和不确定因素,选用H∞鲁棒控制理论进行控制系统设计。研究了H∞混合灵敏度优化设计方法,选取适当的加权函数,根据＂2-Riccati方程＂利用Matlab鲁棒工具箱设计控制器。仿真结果表明,采用混合灵敏度设计方法设计出的控制器能够满足设计指标的要求,达到很好的控制效果。     

直升机垂直飞行鲁棒控制系统设计与仿真

应用基于Lyapunov直接法的非线性不确定系统鲁棒控制方法，为某型直升机垂直飞行模态设计了鲁棒控制律，该控制律能保证闭环系统具有全局稳定性。为验证所设计鲁棒控制律的有效性，对直机机垂直飞行的三 机动：设定点悬停、起飞着陆机和忽上忽下机动，分别进行了闭环系统仿真。仿真结果表明，所设计的控制律对系统参数的摄动具有很强的鲁棒性。     

新型复合式无人直升机悬停/着陆控制

旋翼-涵道复合式无人直升机是一种具有特殊机体结构的新型无人直升机,悬停和着陆控制是该类无人直升机飞行控制设计的一大难点。依据复合式无人直升机运动机理建立了非线性动力学模型,在悬停配平状态下进行小扰动线化和降阶处理,给出了用于控制律设计和仿真的线性模型。运用期望隐模型和特征结构配置方法设计了姿态角速度与垂向速度控制内回路,内回路输出角速度积分得到的姿态角反馈和线速度反馈构成纵横向线速度控制外回路。悬停/着陆仿真验证了内回路能实现良好的角速度指令跟踪解耦控制,外回路能实现良好的悬停位置保持和着陆轨迹跟踪控制。     

Spacecraft optimal rendezvous controller design using simulated annealing

A new global approach for rendezvous Linear Quadratic controller design is presented in this paper. Instead of solving the algebraic Riccati equation, a continuous simulated annealing (SA) algorithm is used to design rendezvous LQ controller. Optimization of one automatic rendezvous controller with 18 design parameters is illustrated. The results show that the SA algorithm can locate the global solution effectively and robust, besides a great number of global solutions have been obtained by the SA. The SA has demonstrated better performance than other optimization algorithms such as floating-coded Genetic Algorithm, Simplex method and Powell algorithm.     

基于升力面自由尾迹的直升机旋翼悬停性能参数影响研究

 最大悬停效率(FM_max)作为衡量旋翼悬停性能的常用指标,反映了旋翼能达到的最大悬停效率,但不能反映旋翼在一定桨叶载荷范围内保持高悬停效率的能力,本文给出了旋翼悬停保持能力的定义.为更准确地反映桨叶涡量分布,建立了基于升力面理论的桨叶气动模型;考虑有弯度翼型的影响,将涡量布置于翼型中弧线,随后基于自由尾迹模型、耦合刚性桨叶挥舞运动方程、翼型动态失速模型以及二阶精度时间步进格式建立了升力面自由尾迹方法.通过计算模型旋翼在不同桨尖马赫数下的悬停效率,并与试验数据对比,验证了方法的准确性.相比于升力线自由尾迹方法,建立的升力面自由尾迹分析方法能显著提高旋翼悬停效率计算精度.最后分析旋翼关键设计参数对悬停性能的影响,得到设计参数影响旋翼悬停保持能力的新规律.     

旋翼螺旋桨巡航及悬停状态气动特性研究

为了提高旋翼螺旋桨的综合气动性能,本文基于叶素-动量组合理论,并耦合了计算流体力学（Computational fluid dynamics,CFD）方法,设计了一款旋翼螺旋桨,进行了螺旋桨巡航及悬停状态的气动特性计算及流场仿真,计算结果与风洞试验数据进行了对比分析。研究结果表明,在进行网格无关性研究基础上,数值计算与风洞试验的误差较小,设计点平均计算误差为3.0%左右,所采用的CFD计算方法具有较高准确性和可信度。设计的旋翼螺旋桨巡航效率高于80%,悬停效率高于70%,具备了较好的巡航及悬停的综合气动性能。     

悬停状态剪刀式尾桨气动/噪声特性优化分析

建立了一套基于CFD(computational fluid dynamics)方法和FW-H(Ffowcs Williams-Hawkings)方程的剪刀式尾桨气动噪声预估技术和组合优化算法的尾桨外形参数设计方法。基于嵌套网格方法采用雷诺平均Navier-Stokes(RANS)方程作为尾桨流场求解控制方程,采用了一套适用于剪刀式尾桨悬停气动特性模拟的高效CFD方法。在流场分析的基础上,采用FW-H方程预测剪刀式尾桨在典型观察位置处的气动噪声。分别在控制总距以及控制拉力系数不变的情况下,以提高尾桨悬停效率同时降低气动噪声为目标,对剪刀式尾桨的剪刀角和轴间距两个主要外形参数进行优化设计。将基于拉丁超立方(LHS)方法和径向基函数(RBF)的代理模型方法与遗传算法过程相结合,建立了一种有效的组合优化算法。结果表明:剪刀角和轴间距的不同组合可以通过削弱桨-涡干扰现象从而实现降低旋翼桨-涡干扰噪声的目的。在当前的计算状态下,优化得到的剪刀式尾桨的悬停效率比常规尾桨高16%,其平均声压级比常规尾桨降低了2.3 dB。      

Aerodynamic/aeroacoustic variable-fidelity optimization of helicopter rotor based on hierarchical Kriging model

Rotor noise is one of the most important reasons for restricting helicopter development; hence, the optimization design of rotor blade considering aeroacoustic and aerodynamic performance at the same time has always been the focus of research attention. For complex rotor design problems with a large number of design variables, the efficiency of the traditional Kriging model needs to be improved. Thus, Hierarchical Kriging (HK) model is employed in this study for rotor optimization design. By using the validated RANS solver and acoustic method based on the FW–H_pds equation, an efficient aerodynamic/aeroacoustic optimization method for high-dimensional problem of rotors in hover based on HK model is developed. By using present HK model and new infill-sampling criteria, the number of design variables is increased from less than 20–53. Results of two analytical function test cases show that the HK model is efficient and accurate in calculation. Subsequently, the helicopter rotor blade is optimally designed for aerodynamic/aeroacoustic performance in hover based on the HK model with high dimensional design variables. The objective function is adopted to improve the rotational noise characteristics by reducing the absolute peak of the acoustic pressure. In addition, the constraints of thrust, hover efficiency, solidity, and airfoils thickness are strictly satisfied. Optimization results show that the Kriging model finds the objective of reducing the noise by 2.87 dB after 248 iterations while the HK model does it only after 164 iterations. The optimization efficiency of the HK model is significantly higher than that of the traditional Kriging model. In the case analyzed, the HK model saves 35% of the time used by the Kriging model.     

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.