动态飞行场景下的直升机后缘襟翼鲁棒减振控制

Robust vibration suppression control of helicopter trailing-edge flaps in dynamic flight scenarios

关键词:  直升机  后缘襟翼  振动控制  线性变参数  积分滑模  鲁棒控制

Key words:  helicopter  trailing edge flap  vibration suppression  linear parameter varying （LPV）  integral sliding mode  robust control

摘要:

为应对前进比连续变化情况下直升机动态飞行（变速前飞）场景中的减振控制问题,基于后缘襟翼主动控制技术,提出了一种基于线性变参数(LPV)模型的鲁棒减振控制方法。首先,基于CAMRAD II计算数据辨识得到直升机振动响应的线性时不变(LTI)模型,并在此基础上建立了表征直升机动态飞行过程的LPV模型。其次,基于所建立的LPV模型设计了一种积分滑模鲁棒控制算法,通过参数依赖的Lyapunov函数证明了控制系统的稳定性,设计了两种不同的直升机动态飞行场景对所提出的算法进行了仿真验证,并与直升机振动控制中常用的H∞控制算法进行了对比。最后,为了进一步验证所提出算法的有效性,将该算法应用至基于LabVIEW的半实物仿真平台进行了仿真验证。仿真结果表明,所设计的积分滑模鲁棒控制算法可在2.5 s内将桨毂垂向振动载荷降低95%以上,并且在外界干扰不确定的情况下,变前进比过程中的桨毂垂向振动载荷降低90%以上,能够对动态飞行场景下的旋翼桨毂垂向振动载荷进行有效抑制。

Abstract:

To address the vibration control problem in helicopter dynamic flight scenarios with continuously varying advance ratios (variable-speed forward flight), a robust vibration control method based on a linear parameter varying (LPV) model was proposed using active trailing-edge flaps. First, a linear time-invariant (LTI) model of the helicopter vibration response was identified using CAMRAD II simulation data, which served as the foundation for developing an LPV model representing the dynamic flight process. Based on this LPV model, an integral sliding mode robust control algorithm was designed. The stability of the control system was proved using a parameter-dependent Lyapunov function. Two distinct helicopter dynamic flight scenarios were designed to simulate and verify the proposed algorithm, which was also compared with the traditional H∞control method commonly used in helicopter vibration suppression. Furthermore, to validate the effectiveness of the proposed algorithm, it was implemented on a semi-physical simulation platform based on LabVIEW. Simulation results demonstrated that the designed integral sliding mode robust control algorithm could suppress vertical vibratory loads on the rotor hub by more than 95% within 2.5 seconds under steady-state conditions and by more than 90% under external disturbances and uncertainties in the process of varying advance ratios. This indicates the algorithm’s ability to effectively suppress rotor hub vertical vibration loads in dynamic flight scenarios.