A kind of helicopter anti-hanging interference self-interference control method

Abstract

The application discloses a kind of self anti-interference control methods of anti-hanging interference of helicopter, including hanging interference online observation method, steering instruction online smoothing algorithm and the self anti-interference hanging flight control method that can realize hanging interference suppression;Hanging interference online observation method is used to observe the influence of hanging interference on helicopter state;Steering instruction online smoothing algorithm is used to generate steering instruction considering actual steering capacity of helicopter online;Self anti-interference hanging flight control method is used to design control system structure according to observed hanging influence and generated steering instruction online.The application can improve the stability and maneuverability of hanging flight, and simplifies flight controller parameter adjustment work, with the characteristics of simple structure, strong engineering realizability.

Description

Technical Field

[0001] This invention belongs to the field of aviation flight control technology and relates to a self-disturbance rejection control method for helicopters to resist interference from hoisting. Background Technology

[0002] Helicopter sling load transport is not restricted by traffic conditions or geographical features, and does not require consideration of the matching of fuselage volume, cabin doors, etc. with the load. It can quickly and efficiently complete take-off, landing, loading and unloading tasks in places that are difficult for conventional means of transportation, and has important military and civilian value.

[0003] Currently, research on helicopter sling control relies on the establishment and analysis of helicopter sling dynamics models, and its improvement on flight stability and maneuverability also depends on the accuracy of the models.

[0004] During helicopter sling-lifting flights, the dynamics of the sling and the flexible sling itself are greatly affected by unknown atmospheric interference, making accurate modeling difficult. This inevitably leads to significant deviations in the helicopter sling-lifting dynamics model, which in turn affects the stability and maneuverability of the sling-lifting flight control system. Therefore, research on sling-lifting flight control methods to counteract sling-lifting interference is of great significance. Summary of the Invention

[0005] Objective: To provide a self-disruption control method for helicopters to resist interference from sling-mounted aircraft. This invention can improve the stability and maneuverability of sling-mounted flight, and simplifies the parameter tuning of the flight controller. It features a simple structure and strong engineering feasibility.

[0006] Technical Solution: A helicopter anti-sling interference active disturbance rejection control method, including a sling interference online observation method, a control command online smoothing algorithm, and an active disturbance rejection sling flight control method that can suppress sling interference; the sling interference online observation method is used to observe the impact of sling interference on the helicopter's state; the control command online smoothing algorithm is used to generate control commands online that take into account the actual controllability of the helicopter; the active disturbance rejection sling flight control method is used to design the control system structure based on the observed sling interference and the online generated control commands.

[0007] In the aforementioned active disturbance rejection control method for helicopter anti-suspension interference, the specific design method for the online observation method of suspension interference is as follows:

[0008] 1. Determine the characteristic frequency range of the hanging interference;

[0009] 2. Design the structure for the suspended interference observer;

[0010] 3. Determine the various design parameters of the observer:

[0011] a. Design parameters and bandwidth ω of the observer. o The function expression;

[0012] b. Based on the characteristic frequency range of the hanging interference, adjust the observer bandwidth, and further calculate the various design parameters of the observer based on the mapping relationship between the observer parameters and the observer bandwidth.

[0013] In the aforementioned active disturbance rejection control method for helicopter anti-suspension interference, the method for determining the characteristic frequency range of the suspension interference is as follows:

[0014] a. The helicopter sling load dynamics model is used as input;

[0015] b. Determine the characteristic frequency range of the suspension dynamics interference under different suspension weights, sling lengths, and flight speeds [ω]. min ω max ].

[0016] In the aforementioned active disturbance rejection control method for helicopter anti-suspension interference, the design method of the suspension interference observer structure is as follows: based on the extended state observer theory and the suspension dynamics model, the order and nonlinear function form of the suspension interference observer are determined.

[0017] In the aforementioned active disturbance rejection control method for helicopter anti-suspension interference, the specific design method of the online smoothing algorithm for control commands is as follows:

[0018] 1. Calculate the maximum implementable instruction bandwidth;

[0019] 2. Design an online smoothing algorithm for instructions:

[0020] a. Design the instruction smoother structure: Determine the instruction smoother structure based on the desired response type;

[0021] b. Determine the instruction smoother design parameters: Based on the maximum instruction bandwidth and the structure of the instruction smoother, determine the instruction smoother design parameters.

[0022] In the aforementioned helicopter anti-sling interference self-disturbance control method, the maximum available control surface deflection for each channel includes: collective pitch, longitudinal / lateral cyclic pitch, and tail rotor pitch deflection.

[0023] In the aforementioned active disturbance rejection control method for helicopter anti-suspension interference, the method for calculating the maximum achievable command bandwidth is as follows:

[0024] a. Analyze the maximum deflection amplitude and deflection rate of the control mechanism: Analyze the constraints of the control mechanism in sling flight and the acceleration and turning bank constraints in variable speed flight to determine the maximum available control surface deflection for each channel;

[0025] b. Calculate the maximum control command bandwidth: By combining the maximum available control surface deflection of each channel with the linear dynamics model, calculate the maximum control command bandwidth ω of each channel. max .

[0026] In the aforementioned helicopter anti-disturbance sling-mounted flight control method, the specific design method of the anti-disturbance sling-mounted flight control method is as follows:

[0027] 1. The inputs are real-time observations of the sling-mounted interference, smoothed control commands, and helicopter-sling-mount status information;

[0028] 2. Control surface deflection commands are outputs, including collective pitch, cyclic pitch, and tail thruster pitch deflection commands;

[0029] 3. Based on the desired response type, design the control system structure and tune the gain of the active disturbance rejection sling flight controller for each channel.

[0030] Beneficial effects:

[0031] This invention addresses the aforementioned problems in existing helicopter sling-mounted flight control methods. Based on active disturbance rejection control theory, and from the perspective of real-time disturbance monitoring and compensation, this invention provides a helicopter anti-sling-mounted interference active disturbance rejection control method to solve these problems. Specifically, compared with the prior art, this invention has the following outstanding features and significant advantages:

[0032] (1) Observation technology for sling interference of helicopter sling dynamics system

[0033] This invention enables real-time online observation of sling interference based solely on helicopter control inputs and actual state data. Furthermore, by adjusting only the observer bandwidth, all other observer parameters can be tuned, significantly simplifying the parameter tuning process. It is directly correlated with frequency domain performance indicators and can specifically target sling interference within typical bandwidth ranges, making it highly suitable for engineering applications. While traditional parameter tuning methods require tuning 7-9 parameters, this invention only requires tuning one parameter: the observer bandwidth.

[0034] (2) Instruction smoothing technique based on tracking differentiator

[0035] To address the reduced maneuverability and resulting limited maneuverability during helicopter sling-loaded flight, a command smoothing technique based on a tracking differentiator was designed for helicopter sling-loaded flight. This technique calculates the maximum achievable command bandwidth based on the actual available maneuverability during sling-loaded flight, combined with acceleration and turn bank constraints in variable-speed flight, as well as control structure constraints. Based on this, smooth commands are generated online, ensuring the physical feasibility of the commands and providing a command basis for improving pilot-induced oscillations, suppressing sling-loaded oscillations, and stabilizing sling-loaded flight. This method effectively improves the helicopter's mission execution capability and stability.

[0036] (3) Self-disruptive anti-interference sling flight control method that can achieve sling interference suppression

[0037] On the one hand, the real-time observation signal of the sling interference, based on the sling interference observer, can compensate for the impact of unmodeled dynamics and atmospheric interference on the sling flight stability. On the other hand, based on the target command signal output by the command smoother, it can significantly reduce tracking overshoot while enhancing command tracking speed. This allows for rapid tracking of pilot commands to quickly suppress sling oscillations without exacerbating them due to the rapid response. Furthermore, this control technology has the advantages of simple structure and strong engineering feasibility. Using this invention, tracking overshoot can be effectively reduced by approximately 30%, while response time is accelerated by 10%–15%, solving the technical problem of simultaneously reducing tracking overshoot and improving response time. Attached Figure Description

[0038] Figure 1 This is a block diagram of the overall structure of the present invention.

[0039] Figure 1 middle:

[0040] δ — Real-time control command

[0041] —The desired state variable instruction after smoothing

[0042] u — Control surface deflection commands, including collective pitch commands, longitudinal / lateral cyclic pitch commands, and tail rotor pitch commands.

[0043] d——Positioning interference

[0044] x——Real-time status quantity of helicopter-sling system

[0045] —Online real-time observation values ​​of hanging interference. Detailed Implementation

[0046] Example 1. A method for active disturbance rejection control of helicopters against suspended interference, see [link to example]. Figure 1 It consists of three parts: an online observation method for pylon interference, an online smoothing technique for control commands, and an active disturbance rejection (ADRROC) flight control technique for suppressing pylon interference. The online observation method for pylon interference is used to observe the impact of pylon interference on the helicopter's state; the online smoothing algorithm for control commands is used to generate control commands online that take into account the actual controllability of the helicopter; and the ADRROC pylon flight control method is used to design the control system structure based on the observed pylon interference and the online generated control commands.

[0047] The specific design method of the online observation method for suspended interference is as follows:

[0048] 1. Determine the characteristic frequency range of the hanging interference.

[0049] a. The helicopter sling load dynamics model is used as input;

[0050] b. Determine the characteristic frequency range of the suspension dynamics interference under different suspension weights, sling lengths, and flight speeds [ω]. min ω max ];

[0051] 2. Design the structure of the suspended interference observer

[0052] Based on the extended state observer theory and the hanging dynamics model, the order and nonlinear function form of the hanging disturbance observer are determined;

[0053] 3. Determine the various design parameters of the observer.

[0054] a. Design parameters and bandwidth ω of the observer. o The function expression;

[0055] b. Based on the characteristic frequency range of the hanging interference, adjust the observer bandwidth, and further calculate the various design parameters of the observer based on the mapping relationship between the observer parameters and the observer bandwidth;

[0056] The specific design method of the online smoothing algorithm for the manipulation commands is as follows:

[0057] 1. Calculate the maximum implementable instruction bandwidth.

[0058] a. Analyze the maximum deflection amplitude and deflection rate of the control mechanism.

[0059] Analyze the constraints of the control mechanism in sling flight and the constraints of acceleration and turn bank in variable speed flight to determine the maximum available control surface deflection for each channel, including collective pitch, longitudinal / lateral cyclic pitch, and tail rotor pitch.

[0060] b. Calculate the maximum manipulation command bandwidth

[0061] By combining the maximum available control surface deflection of each channel with the linear dynamics model, the maximum control command bandwidth ω of each channel is calculated inversely. max ;

[0062] 2. Design an online smoothing algorithm for instructions.

[0063] a. Design the instruction smoother structure

[0064] Determine the instruction smoother structure based on the expected response type;

[0065] b. Determine the design parameters of the instruction smoother.

[0066] Based on the maximum manipulation instruction bandwidth and the structure of the instruction smoother, determine the instruction smoother design parameters (i.e., instruction smoother bandwidth);

[0067] The specific design method of the self-disturbance rejection sling-mounted flight control method is as follows:

[0068] 1. The inputs are real-time observations of the sling-mounted interference, smoothed control commands, and helicopter-sling-mount status information;

[0069] 2. Control surface deflection commands are outputs, including collective pitch, cyclic pitch, and tail thruster pitch deflection commands;

[0070] 3. Based on the desired response type, design the control system structure and tune the gain of the active disturbance rejection sling flight controller for each channel.

Claims

1. A method for active disturbance rejection control of helicopters against suspended interference, characterized in that, This includes an online observation method for sling interference, an online smoothing algorithm for control commands, and an active disturbance rejection sling flight control method that can suppress sling interference; the online observation method for sling interference is used to observe the impact of sling interference on the helicopter's state; the online smoothing algorithm for control commands is used to generate control commands online that take into account the actual controllability of the helicopter. The active disturbance rejection method for sling-mounted flight control is used to design the control system structure based on the observed sling-mounted effects and online-generated control commands. The specific design method of the online smoothing algorithm for manipulation commands is as follows:

1. Calculate the maximum implementable instruction bandwidth: a. Analyze the maximum deflection amplitude and deflection rate of the control mechanism: Analyze the constraints of the control mechanism in sling flight and the acceleration and turning bank constraints in variable speed flight to determine the maximum available control surface deflection for each channel; b. Calculate the maximum control command bandwidth: By combining the maximum available control surface deflection of each channel with the linear dynamics model, calculate the maximum control command bandwidth ω of each channel. max ; 2. Design an online smoothing algorithm for instructions: a. Design the instruction smoother structure: Determine the instruction smoother structure based on the desired response type; b. Determine the instruction smoother design parameters: Based on the maximum manipulation instruction bandwidth and the structure of the instruction smoother, determine the instruction smoother design parameters; The maximum available control surface deflection for each channel includes: collective pitch, longitudinal / lateral cyclic pitch, and tail rotor pitch deflection.

2. The self-disturbance rejection control method for helicopter anti-suspension interference according to claim 1, characterized in that, The specific design method of the online observation method for suspended interference is as follows:

1. Determine the characteristic frequency range of the hanging interference; 2. Design the structure for the suspended interference observer; 3. Determine the various design parameters of the observer: a. Design parameters and bandwidth ω of the observer. o The function expression; b. Based on the characteristic frequency range of the hanging interference, adjust the observer bandwidth, and further calculate the various design parameters of the observer based on the mapping relationship between the observer parameters and the observer bandwidth.

3. The self-disturbance rejection control method for helicopter anti-suspension interference according to claim 2, characterized in that, The method for confirming the characteristic frequency range of hanging interference is as follows: a. The helicopter sling load dynamics model is used as input; b. Determine the characteristic frequency range of the suspension dynamics interference under different suspension weights, sling lengths, and flight speeds [ω]. min ω max ].

4. The self-disturbance rejection control method for helicopter anti-suspension interference according to claim 2, characterized in that, The design method for the suspended interference observer structure is as follows: based on the extended state observer theory and the suspended dynamics model, the order and nonlinear function form of the suspended interference observer are determined.

5. The self-disturbance rejection control method for helicopter anti-suspension interference according to claim 1, characterized in that, The specific design method of the self-disturbance rejection sling-mounted flight control method is as follows:

1. The inputs are real-time observations of the sling-mounted interference, smoothed control commands, and helicopter-sling-mount status information; 2. Control surface deflection commands are outputs, including collective pitch, cyclic pitch, and tail thruster pitch deflection commands; 3. Based on the desired response type, design the control system structure and tune the gain of the active disturbance rejection sling flight controller for each channel.

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