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为了研究倾转旋翼飞机短舱倾转过程中的飞行控制问题,提出了一种基于线性规划的动态逆方法,以实现直升机模态下短舱小角度倾转时的姿态和速度控制。建立了倾转旋翼飞机简化的纵向非线性模型,以短舱角、旋翼纵向周期变距和总距作为控制输入,使用基于线性规划控制分配的动态逆方法设计了控制器。仿真结果表明:飞机在执行姿态或速度指令时,在无输入饱和和输入速率饱和的情况下能以最快速度完成倾转。该方法能完成要求的控制任务,闭环系统稳定,稳态性能好,有一定的鲁棒性。
In order to study the flight control problem of tilting rotor nacelle during tilting, a dynamic inverse method based on linear programming is proposed to realize the attitude and velocity control during the small angle tilting of helicopter. A simplified longitudinal nonlinear model of tiltrotor rotor was established. Based on the nacelle angle, longitudinal periodic pitch of the rotor and total pitch, the controller was designed by using the dynamic inverse method based on linear programming control distribution. The simulation results show that the aircraft can perform the tilting at the fastest speed without input saturation and input rate saturation when performing attitude or speed command. The method can accomplish the required control tasks, the closed-loop system is stable, the steady-state performance is good, and a certain degree of robustness is achieved.