Self-adaptive control method of electrically controlled rotor pitch

Abstract

The invention relates to a self-adaptive control method of an electrically controlled rotor pitch, belonging to the field of helicopter rotor control. The control system adopted by the method comprises a self-adaptive filter controller, a system identification controller, a parallel link filter controller, comparison modules (I and II) and a system identification model obtained by the system identification controller. The method comprises the following steps of: generating an expected pitch value and a random disturbance signal by an upper computer to enter a control system, subtracting a control output signal of the self-adaptive filter controller from the random disturbance signal to obtain a difference as the input of an electrically controlled rotor system; outputting a practical pitch value by the electrically controlled rotor system to enter the control system; and adopting an LMS (Least Mean Square) algorithm to update the filter weight coefficient by three controllers according to an input value and a compassion difference value so that the compassion difference value gradually approaches to the minimum value. The invention can suit the change of various flight statuses ofa helicopter and constantly and accurately control the electrically controlled rotor pitch.

Description

technical field [0001] The invention relates to a control method, in particular to an adaptive control method for helicopter electronically controlled rotor pitch, and belongs to the field of helicopter rotor control. Background technique [0002] A helicopter is an aircraft with unique flight characteristics that can hover, lift vertically, and fly in any direction. The reason why the helicopter has this ability is mainly due to the rotor and its control system. The rotor and its control system are the key components of the helicopter, which have an important impact on the performance, control stability and flight safety of the helicopter. [0003] Existing helicopters are generally controlled by indirect control of the automatic tilter. The disadvantages of this control system are obvious: due to the use of automatic tilters, mechanical joysticks and hydraulic systems, the weight efficiency of the helicopter is reduced. ; Simultaneously, mechanical hydraulic equipment ca...

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Problems solved by technology

[0004] At present, there are few relevant foreign literatures on the research on electronically controlled rotor control methods. In the experiment, the control between flaps and pitch is open-loop control, and closed-loop control has not been carried out (Bao Jinsong, Allen Keith, Chopra Inderjit .Design and Test of a Mach Scale Swashplateless Rotor Using Smart Trailing-Edge Flaps.The 62 nd AnnualForum of American Helicopter Society, 2006); Domestic Xia Heming, Lu Yang et al. based on theoretical research results, used PID control method to conduct pitch closed-loop control research on the improved electronically controlled rotor system, and the test verified the hovering state However, when the rotor aerodynamic environment (helicopter flight state) changes, this method cannot achieve effective control of the pitch (Xia Heming, Lu Yang, Research on Electronically Controlled Rotor Pitch Control in Hovering State, Aerodynamics Journal, 2009, Volume 24, Issue 10)

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