升降舵辅助操纵的自转旋翼机自适应姿态控制

针对常规自转旋翼机俯仰操纵方式存在的问题，提出了一种升降舵辅助操纵的自转旋翼机布局。采用解析叶素积分方法建立了自转旋翼气动模型，通过与风洞试验数据及数值叶素积分法的对比验证了其合理性。提出了基于神经网络动态逆的自转旋翼机姿态控制方法，采用动态逆技术设计了基本控制器，采用在线神经网络自适应补偿建模误差、外界干扰和设计模型误差导致的不确定逆误差。提出了基于动态控制分配技术的升降舵-旋翼纵向周期变距分配方法，以协调二者在控制效率和带宽方面的差异。仿真结果表明，提出的升降舵辅助操纵方式可以有效地降低旋翼机桨盘的调整频率和幅值；提出的姿态控制方法具有良好的控制性能和鲁棒性；动态控制分配器能够合理地协调升降舵和旋翼纵向周期变距。

Adaptive attitude control of autogyro augmented with elevator

To deal with the problems of pitching control mode of conventional autogyro, a novel autogyro configuration augmented with elevator is proposed. The autorotating rotor is modeled with closed-form blade element methods, which is verified by comparing calculation results with data from wind tunnel tests and numerical integration blade element methods. Baseline attitude controller is designed based on dynamic inversion, and adaptive neural networks are used to estimate and eliminate the unknown uncertain inverse error caused by modelling error, external disturbances and design model error. Dynamic control allocation is used to coordinate the control efficiency and bandwidth differences between the elevator and the rotor longitudinal cyclic control. Simulation results show that the proposed autogyro configuration can effectively reduce the deflection frequency and amplitude of the rotor longitudinal cyclic control, the proposed controller has good performance and robustness, and the dynamic control allocator can coordinate the elevator and the rotor longitudinal cyclic control to achieve the desired moments.