A vibration response calculation method for helicopter multi-directional vibration active control

Abstract

The application discloses a kind of helicopter multidirectional vibration active control vibration response calculation method, comprising: calculating the vibration response of each evaluation point in helicopter multidirectional vibration active control, including: the vibration response of evaluation point excited by hub force and the vibration response of evaluation point excited by each actuator;By respectively introducing evaluation point position weight factor, evaluation point vibration response direction weight factor and flight state weight factor in the vibration response calculation results of each evaluation point, the vibration response of different positions of evaluation point in different directions is calculated, the vibration response of the same position evaluation point in different directions, and the vibration response of each evaluation point in different flight states.The technical scheme of the present application solves the problem that the existing vibration response calculation method is not applicable to the active control of helicopter multidirectional vibration.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of active vibration control technology for helicopters, and specifically to a vibration response calculation method for active multi-directional vibration control of helicopters. Background Technology

[0002] Vibration active control technology is based on the principle of "using vibration to cancel vibration". By measuring the vibration applied to the target area of ​​the aircraft, a digital controller with a certain algorithm gives instructions to drive the actuator, so that the aircraft response caused by the force generated by the actuator cancels the aircraft response caused by the alternating aerodynamic force of the rotor, thereby reducing the vibration at the target area.

[0003] Vibration response calculation for helicopter active vibration control provides data support for actuator position optimization and determines the success of the active vibration control system. Existing vibration response calculation methods typically involve performing dynamic calculations on a full-aircraft model using software to obtain the vibration response at evaluation points, which is then directly used for selecting vibration locations in helicopter active vibration control. However, these existing methods do not consider the influence of actual flight and installation factors on the vibration response at evaluation points. Furthermore, since multi-directional vibrations in helicopters require comprehensive vibration reduction in different directions at the evaluation points, applying the existing vibration response results to the selection of vibration locations in multi-directional active vibration control makes it difficult to obtain accurate and reliable vibration locations. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems by providing a vibration response calculation method for active control of multi-directional vibration in helicopters. This method solves the problem that existing vibration response results are not applicable to the selection of vibration locations in active control of multi-directional vibration because they do not consider the influence of actual flight and installation factors on the vibration response at the evaluation point, and multi-directional vibration requires comprehensive vibration reduction in different directions at the evaluation point.

[0005] The technical solution of the present invention: The embodiments of the present invention provide a vibration response calculation method for active multi-directional vibration control of helicopters, comprising:

[0006] Step 1: Calculate the vibration response of each evaluation point in the active multi-directional vibration control of the helicopter, including the vibration response of the evaluation point excited by the rotor hub force and the vibration response of the evaluation point excited by each actuator.

[0007] Step 2: By introducing the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor into the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions in different directions, the vibration response of the evaluation point at the same position in different directions, and the vibration response of each evaluation point under different flight states are calculated.

[0008] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, before step 1, the method further includes:

[0009] Based on the requirements for active control of multi-directional vibration of helicopters, actuators are installed on the helicopter, as well as evaluation point positions excited by rotor hub force and evaluation point positions excited by actuators.

[0010] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, the method for calculating the vibration response at the evaluation point excited by the rotor hub force in step 1 includes:

[0011] The vibration response in three directions at each evaluation point excited by the rotor hub force under different flight conditions is calculated and expressed as follows:

[0012]

[0013] Where i represents the i-th flight state, and 1 to n are the evaluation point numbers;

[0014] The vibration response in the X direction at the evaluation point excited by the rotor hub force under the i-th flight state;

[0015] The vibration response in the Y direction at the evaluation point excited by the rotor hub force in the i-th flight state;

[0016] The vibration response in the Z direction at the evaluation point excited by the rotor hub force in the i-th flight state;

[0017] Where X, Y, and Z correspond to the heading, lateral, and vertical coordinates of the helicopter's overall coordinate system, respectively.

[0018] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, the way in which each actuator excites the vibration response at the evaluation point in step 1 includes:

[0019] The vibration response in three directions at each evaluation point excited by different actuators is calculated and expressed as follows:

[0020]

[0021] Where j represents the j-th actuator, and 1 to n are the evaluation point numbers;

[0022] The j-th actuator excites the vibration response of the evaluation point in the X direction; To excite the vibration response in the Y direction at the evaluation point by the j-th actuator;

[0023] To determine the vibration response in the Z direction at the evaluation point excited by the j-th actuator.

[0024] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, step 2 includes:

[0025] Step 21: By adding the evaluation point position weight factor μ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the evaluation point position and the vibration response of the evaluation point excited by each actuator.

[0026] Step 22: By adding the vibration response direction weighting factor λ of the evaluation point to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at the same location is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the vibration response direction of the evaluation point and the vibration response of the evaluation point excited by each actuator.

[0027] Step 23: By adding the flight state weighting factor τ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point under different flight states is weighted and calculated to obtain the vibration response of the evaluation point excited by the rotor hub force based on the flight state.

[0028] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, step 21 includes:

[0029] To assess the influence of evaluation point location factors, a weighting factor μ is introduced to calculate the vibration response of evaluation points at different locations. The calculated new primary channel vibration response and secondary channel vibration response are as follows:

[0030]

[0031]

[0032] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

[0033] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, step 22 includes:

[0034] To assess the influence of the vibration response direction at the evaluation point, a weighting factor λ for the vibration response direction at the evaluation point is introduced. The new primary channel vibration response and secondary channel vibration response are calculated as follows:

[0035]

[0036]

[0037] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

[0038] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, step 23 includes:

[0039] To assess the impact of flight state, a flight state weighting factor τ is introduced, and the new primary channel vibration response is calculated as follows:

[0040]

[0041] In the formula: i represents the i-th flight state, and 1 to n are the evaluation point numbers. X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

[0042] Optionally, in the vibration response calculation method for active multi-directional vibration control of helicopters as described above, step 2 further includes:

[0043] Step 24: Based on the influence of introducing the evaluation point location weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor on the vibration response, determine that the final primary channel vibration response and secondary channel vibration response obtained by introducing at least one weight factor are as follows:

[0044]

[0045]

[0046] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

[0047] This invention also provides a computer-readable storage medium, including: a memory and a processor;

[0048] The memory is configured to store executable instructions;

[0049] The processor is configured to implement the vibration response calculation method for active multi-directional vibration control of helicopters as described above when executing the executable instructions stored in the memory.

[0050] The beneficial effects of this invention are:

[0051] This invention provides a vibration response calculation method for multi-directional active vibration control of helicopters. It accurately describes the actual operating state of the helicopter by using corresponding weighting factors for the vibration response of evaluation points at different locations, the vibration response of the same evaluation point in different directions, and the vibration response of evaluation points under different flight conditions. This provides more accurate vibration response inputs for the optimal location of active vibration control, improves the reliability and accuracy of actuator location selection, supports the successful development of active vibration control systems, and meets the requirements of engineering design and application. Attached Figure Description

[0052] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0053] Figure 1 This is a schematic diagram of the vibration response at the evaluation point excited by the hub force in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of the vibration response of the actuator at the evaluation point in an embodiment of the present invention. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0056] The background section has already explained the application of active vibration control technology in helicopter active vibration control, as well as the existing methods for calculating vibration response. Applying existing vibration response results to the selection of vibration locations in multi-directional active vibration control is not suitable for active control of multi-directional vibration in helicopters because the existing vibration response does not consider the influence of actual flight and installation factors on the vibration response at the evaluation point, and because multi-directional vibration requires comprehensive vibration reduction in different directions at the evaluation point.

[0057] To address the aforementioned issues, this invention provides a vibration response calculation method for active multi-directional vibration control of helicopters. By considering the influence of flight status, installation location, and different directions of the evaluation point on the vibration response of the evaluation point, it effectively improves the reliability and accuracy of vibration location selection in active multi-directional vibration control, and can meet the requirements of engineering design and application.

[0058] The present invention provides the following specific embodiments, which can be combined with each other. For the same or similar concepts or processes, they may not be described again in some embodiments.

[0059] The vibration response calculation method for active multi-directional vibration control of helicopters provided in this embodiment of the invention includes the following steps:

[0060] Step 1: Calculate the vibration response of each evaluation point in the active multi-directional vibration control of the helicopter, including the vibration response of the evaluation point excited by the rotor hub force and the vibration response of the evaluation point excited by each actuator.

[0061] Step 2: By introducing the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor into the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions in different directions, the vibration response of the evaluation point at the same position in different directions, and the vibration response of each evaluation point under different flight states are calculated.

[0062] Before implementing the method provided in this embodiment of the invention, it is necessary to arrange actuators and evaluation point locations on the helicopter. Specifically, based on the requirements for active control of multi-directional vibration of the helicopter, actuators are arranged on the helicopter, as well as evaluation point locations excited by rotor hub force and evaluation point locations excited by the actuators are arranged. Figure 1 As shown, this is a schematic diagram of the vibration response at the evaluation point excited by the hub force in an embodiment of the present invention. Figure 2 The diagram shown is a schematic representation of the vibration response of the actuator at the evaluation point in an embodiment of the present invention.

[0063] In one implementation of this invention, step 1 is carried out as follows:

[0064] The vibration response in three directions at each evaluation point caused by the rotor hub force under different flight conditions is calculated and expressed as follows:

[0065]

[0066] Where i represents the i-th flight state, and 1 to n are the evaluation point numbers;

[0067] The vibration response in the X direction at the evaluation point excited by the rotor hub force under the i-th flight state;

[0068] The vibration response in the Y direction at the evaluation point excited by the rotor hub force in the i-th flight state;

[0069] The vibration response in the Z direction at the evaluation point excited by the rotor hub force in the i-th flight state;

[0070] Where X, Y, and Z correspond to the heading, lateral, and vertical coordinates of the helicopter's overall coordinate system, respectively.

[0071] In this implementation, the methods by which each actuator excites the vibration response at the evaluation point in step 1 include:

[0072] The vibration response in three directions at each evaluation point excited by different actuators is calculated and expressed as follows:

[0073]

[0074] Where j represents the j-th actuator, and 1 to n are the evaluation point numbers;

[0075] The j-th actuator excites the vibration response of the evaluation point in the X direction; To excite the vibration response in the Y direction at the evaluation point by the j-th actuator;

[0076] To determine the vibration response in the Z direction at the evaluation point excited by the j-th actuator.

[0077] In one implementation of this invention, step 2 may include:

[0078] Step 21: By adding the evaluation point position weight factor μ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the evaluation point position and the vibration response of the evaluation point excited by each actuator.

[0079] Step 22: By adding the vibration response direction weighting factor λ of the evaluation point to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at the same location is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the vibration response direction of the evaluation point and the vibration response of the evaluation point excited by each actuator.

[0080] Step 23: By adding the flight state weighting factor τ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point under different flight states is weighted and calculated to obtain the vibration response of the evaluation point excited by the rotor hub force based on the flight state.

[0081] Furthermore, step 2 also includes:

[0082] Step 24: Based on the influence of introducing the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor on the vibration response, and according to the requirements of multi-directional vibration active control, determine to introduce at least one weight factor to calculate the final primary channel vibration response and secondary channel vibration response.

[0083] The vibration response calculation method for multi-directional active vibration control of helicopters provided in this invention accurately describes the actual operating state of the helicopter by using corresponding weighting factors for the vibration response of evaluation points at different locations, the vibration response of evaluation points at the same location in different directions, and the vibration response of evaluation points under different flight conditions. This provides a more accurate vibration response input for the evaluation points in the active vibration control position selection, improves the reliability and accuracy of the active vibration control actuator position selection, provides support for the successful development of the active vibration control system, and meets the requirements of engineering design and application.

[0084] Based on the vibration response calculation method for active control of multi-directional vibration of a helicopter provided in the embodiments of the present invention, the embodiments of the present invention also provide a computer-readable storage medium, including: a memory and a processor;

[0085] The memory is configured to store executable instructions;

[0086] The processor is configured to implement the vibration response calculation method for active multi-directional vibration control of helicopters as provided in any of the above embodiments when executing the executable instructions stored in the memory.

[0087] The following specific embodiment illustrates the implementation of the vibration response calculation method for active multi-directional vibration control of a helicopter provided in this invention.

[0088] Example 1

[0089] The vibration response calculation method for active multi-directional vibration control of a helicopter provided in this embodiment includes:

[0090] Step 1: Calculate the vibration response at each evaluation point in the active multi-directional vibration control of the helicopter;

[0091] The vibration response at each evaluation point in the active multi-directional vibration control of a helicopter includes: the vibration response at the evaluation point caused (excited) by the rotor hub force and the vibration response at the evaluation point caused by each actuator, such as... Figure 1 As shown, this is a schematic diagram of the vibration response at the evaluation point excited by the hub force in an embodiment of the present invention. Figure 2 The diagram shown illustrates the vibration response at evaluation points excited by the actuator in an embodiment of the present invention. The vibration responses at each evaluation point provide input for actuator position selection in multi-directional vibration active control.

[0092] First, the vibration response in three directions at each evaluation point caused by the rotor hub force under different flight conditions is calculated, and expressed as:

[0093]

[0094] Where i represents the i-th flight state, and 1 to n are the evaluation point numbers;

[0095] The vibration response in the X direction at the evaluation point excited by the rotor hub force under the i-th flight state;

[0096] The vibration response in the Y direction at the evaluation point excited by the rotor hub force in the i-th flight state;

[0097] Let Z be the vibration response of the evaluation point in the Z direction under the rotor hub force excitation in the i-th flight state.

[0098] Where X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, and are in a right-handed coordinate system.

[0099] Secondly, the vibration response in three directions at each evaluation point excited by different actuators is calculated and defined as the secondary channel vibration response, as follows:

[0100]

[0101] Where j represents the j-th actuator, and 1 to n are the evaluation point numbers;

[0102] The j-th actuator excites the vibration response of the evaluation point in the X direction; To excite the vibration response in the Y direction at the evaluation point by the j-th actuator;

[0103] To determine the vibration response in the Z direction at the evaluation point excited by the j-th actuator.

[0104] Step 2: Calculation of vibration response at evaluation points for active multi-directional vibration control of helicopters based on weighting factors;

[0105] 2.1 Calculation of vibration response at evaluation points based on evaluation point location weighting factors:

[0106] During actual flight, helicopters have varying requirements at different locations, resulting in different vibration response requirements. In the vibration response calculation for multi-directional active vibration control of helicopters, to assess the influence of evaluation point location factors, an evaluation point location weighting factor μ is introduced. The vibration response at different evaluation point locations is weighted and calculated, yielding the new primary channel vibration response and secondary channel vibration response as follows:

[0107]

[0108]

[0109] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

[0110] 2.2 Calculation of vibration response at evaluation points based on the vibration response direction weighting factor at the evaluation points;

[0111] For the same evaluation point, vibration responses in different directions have varying impacts on crew productivity and passenger comfort. In the vibration response calculation for active multi-directional vibration control of helicopters, a weighting factor λ for the vibration response direction of the evaluation point is introduced to assess its influence. The calculated new primary and secondary channel vibration responses are as follows:

[0112]

[0113]

[0114] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

[0115] 2.3 Calculation of Vibration Response at Evaluation Points Based on Flight State Weighting Factor

[0116] Based on the helicopter flight spectrum, different flight states occur at different percentages of the actual flight time. In the vibration response calculation for active multi-directional vibration control of the helicopter, a flight state weighting factor τ is introduced to assess the influence of flight state. The calculated new primary channel vibration response is as follows:

[0117]

[0118] In the formula: i represents the i-th flight state, and 1 to n are the evaluation point numbers. X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

[0119] 2.4 Based on the influence of the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor on the vibration response, and according to the actual requirements of multi-directional vibration active control, this embodiment determines to introduce the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor, and calculates the final primary channel vibration response and secondary channel vibration response as follows:

[0120]

[0121]

[0122] In the formula: i represents the i-th flight state, j represents the j-th actuator, 1 to n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

[0123] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A method for calculating the vibration response of a helicopter for active multi-directional vibration control, characterized in that, include: Step 1: Calculate the vibration response of each evaluation point in the active multi-directional vibration control of the helicopter, including the vibration response of the evaluation point excited by the rotor hub force and the vibration response of the evaluation point excited by each actuator. Step 2: By introducing the evaluation point position weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor into the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions in different directions, the vibration response of the evaluation point at the same position in different directions, and the vibration response of each evaluation point under different flight states are calculated. Step 2 includes: Step 21: By adding the evaluation point position weight factor μ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at different positions is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the evaluation point position and the vibration response of the evaluation point excited by each actuator. Step 22: By adding the vibration response direction weighting factor λ of the evaluation point to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point at the same location is weighted and calculated to obtain the vibration response of the evaluation point excited by the hub force based on the vibration response direction of the evaluation point and the vibration response of the evaluation point excited by each actuator. Step 23: By adding the flight state weighting factor τ to the vibration response calculation results of each evaluation point, the vibration response of the evaluation point under different flight states is weighted and calculated to obtain the vibration response of the evaluation point excited by the rotor hub force based on the flight state.

2. The vibration response calculation method for active multi-directional vibration control of helicopters according to claim 1, characterized in that, Before step 1, the following are also included: Based on the requirements for active control of multi-directional vibration of helicopters, actuators are installed on the helicopter, as well as evaluation point positions excited by rotor hub force and evaluation point positions excited by actuators.

3. The vibration response calculation method for active multi-directional vibration control of helicopters according to claim 1, characterized in that, The method for calculating the vibration response at the evaluation point excited by the hub force in step 1 includes: The vibration response in three directions at each evaluation point excited by the rotor hub force under different flight conditions is calculated and expressed as follows: ； Where i represents the i-th flight state, and 1~n are the evaluation point numbers; The vibration response in the X direction at the evaluation point excited by the rotor hub force under the i-th flight state; The vibration response in the Y direction at the evaluation point excited by the rotor hub force in the i-th flight state; The vibration response in the Z direction at the evaluation point excited by the rotor hub force in the i-th flight state; Where X, Y, and Z correspond to the heading, lateral, and vertical coordinates of the helicopter's overall coordinate system, respectively.

4. The vibration response calculation method for active multi-directional vibration control of helicopters according to claim 3, characterized in that, The methods by which each actuator excites the vibration response at the evaluation point in step 1 include: The vibration response in three directions at each evaluation point excited by different actuators is calculated and expressed as follows: ； Where j represents the j-th actuator, and 1~n are the evaluation point numbers; The vibration response in the X direction at the evaluation point is excited by the j-th actuator; To excite the vibration response in the Y direction at the evaluation point by the j-th actuator; To elicit the vibration response in the Z direction at the evaluation point by the j-th actuator.

5. The vibration response calculation method for active multi-directional vibration control of helicopters according to any one of claims 1 to 4, characterized in that, Step 21 includes: To assess the influence of evaluation point location factors, a weighting factor μ is introduced to calculate the vibration response of evaluation points at different locations. The calculated new primary channel vibration response and secondary channel vibration response are as follows: ； ； In the formula: i represents the i-th flight state, j represents the j-th actuator, 1~n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

6. The vibration response calculation method for active multi-directional vibration control of helicopters according to any one of claims 1 to 4, characterized in that, Step 22 includes: To assess the influence of the vibration response direction at the evaluation point, a weighting factor λ for the vibration response direction at the evaluation point is introduced. The new primary channel vibration response and secondary channel vibration response are calculated as follows: ； ； In the formula: i represents the i-th flight state, j represents the j-th actuator, 1~n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

7. The vibration response calculation method for active multi-directional vibration control of helicopters according to any one of claims 1 to 4, characterized in that, Step 23 includes: To assess the impact of flight state, a flight state weighting factor τ is introduced, and the new primary channel vibration response is calculated as follows: ； In the formula: i represents the i-th flight state, 1~n are the evaluation point numbers, X, Y, and Z correspond to the heading, lateral, and vertical coordinates of the helicopter's overall coordinate system, respectively, according to the right-hand coordinate system.

8. The vibration response calculation method for active multi-directional vibration control of helicopters according to any one of claims 1 to 4, characterized in that, Step 2 also includes: Step 24: Based on the influence of introducing the evaluation point location weight factor, the evaluation point vibration response direction weight factor, and the flight state weight factor on the vibration response, determine that the final primary channel vibration response and secondary channel vibration response obtained by introducing at least one weight factor are as follows: ； ； In the formula: i represents the i-th flight state, j represents the j-th actuator, 1~n are the evaluation point numbers, and X, Y, and Z correspond to the heading, lateral, and vertical directions of the helicopter's overall coordinate system, respectively.

9. A computer-readable storage medium, characterized in that, include: Memory and processor; The memory is configured to store executable instructions; The processor is configured to implement the vibration response calculation method for active multi-directional vibration control of helicopters as described in any one of claims 1 to 8 when executing the executable instructions stored in the memory.

Images