A simulation analysis method for dynamic characteristics of a helicopter control device

Abstract

The application discloses a dynamic characteristic simulation analysis method of a helicopter control device, and comprises the following steps: step 1, a simplified dynamic model for a component to be checked is established according to the actual structure of the helicopter control device; step 2, the connection form of the component to be checked and the surrounding structure is determined, and the separation surface of the component to be checked and the surrounding structure in the simplified dynamic model is constrained; the connection form of the internal structures of the component to be checked is determined, and the separation surface of the internal structures of the component to be checked in the simplified dynamic model is constrained; step 3, the simplified dynamic model with the separation surface constraint is simulated and analyzed by using a finite element simulation analysis method, the dynamic characteristics of the helicopter control device are calculated, and the natural frequency and the vibration mode of the component to be checked are obtained by analysis. The technical scheme of the application solves the problems of the traditional dynamic characteristic analysis method for the helicopter control device, i.e., the dynamic characteristic test can be carried out only after the installation requirements are met, the test process is relatively complicated, data analysis is required in the later stage, and the test cycle is long, the test manpower and cost are high and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the technical field of helicopter structure strength design, and in particular to a dynamic characteristic simulation analysis method for a helicopter control device. BACKGROUND

[0002] The helicopter control device is an important device for controlling the flight of the helicopter, and the installation dynamic characteristic of the helicopter control device is crucial to the design of the control device. If the dynamic characteristic of the control device is not ideal, the control efficiency of the pilot will be reduced, and even the flight safety will be affected. Therefore, an efficient dynamic characteristic analysis method for the helicopter control device is particularly important in the structural and installation design process of the helicopter control device.

[0003] The traditional dynamic characteristic analysis method for the helicopter control device is as follows: the natural frequency and mode shape of the control device are obtained through a dynamic characteristic test. The test method is to install a vibration sensor on the control device, to excite the control device by using a force hammer excitation method at a specified position of the control device, to collect and record the test results by using a data acquisition device and a computer, to excite the control device in the x, y and z directions by using the force hammer excitation method, to pick up the vibration in multiple directions or in a single direction, and then to obtain the dynamic characteristic of the control device by analyzing and processing the test data. In the above traditional dynamic characteristic analysis method, the dynamic characteristic test cannot be carried out until the installation requirements are met, the test process is relatively complicated, and data analysis is required in the later stage. Therefore, the test cycle is tight, and the test manpower and cost are high. SUMMARY

[0004] The purpose of the present application is to solve the above problems. The present application provides a dynamic characteristic simulation analysis method for a helicopter control device to solve the problems of the traditional dynamic characteristic analysis method for the helicopter control device, i.e., the dynamic characteristic test cannot be carried out until the installation requirements are met, the test process is relatively complicated, data analysis is required in the later stage, the test cycle is long, and the test manpower and cost are high.

[0005] The technical solution of the present application is as follows: in a first aspect, the present application provides a dynamic characteristic simulation analysis method for a helicopter control device, which comprises the following steps:

[0006] Step 1: establishing a simplified dynamic model for the to-be-checked component according to the actual structure of the helicopter control device;

[0007] Step 2: determining the connection form of the to-be-checked component and the surrounding structure, and constraining the separation surface of the to-be-checked component and the surrounding structure in the simplified dynamic model; determining the connection form of the internal structures of the to-be-checked component, and constraining the separation surface of the internal structures of the to-be-checked component in the simplified dynamic model;

[0008] Step 3, the finite element simulation analysis method is used to simulate and analyze the simplified dynamic model with the separation surface constraint, and the dynamic characteristics of the helicopter control device are calculated, and the natural frequency and vibration mode of the component to be checked are obtained through analysis.

[0009] Optionally, in the dynamic characteristic simulation analysis method of the helicopter control device, the step 1 comprises:

[0010] Step 11, according to the actual structure of the helicopter control device, a simplified stiffness model of each component to be checked is established according to the main force transmission route and the gravity center of the helicopter control device, so as to simulate the stiffness distribution of the helicopter control device;

[0011] Step 12, according to the weight gravity center and the actual installation position of each component to be checked, the weight gravity center of each component to be checked is simulated by using a concentrated mass unit, and the concentrated mass unit is connected to the actual installation node of the corresponding component to be checked by using a rigid connection unit on the simplified stiffness model, so as to establish a simplified dynamic model of each component to be checked, and simulate the mass distribution of the helicopter control device.

[0012] Optionally, in the dynamic characteristic simulation analysis method of the helicopter control device, the step 2 comprises:

[0013] Step 21, the connection form of each component to be checked and the surrounding structure, and the connection form between the internal structures of each component to be checked are determined, and according to the actual force transmission form of the connection structure, part of the connection structure is stitched by using a node in the simplified dynamic model, and part of the connection structure is connected rigidly in the simplified dynamic model;

[0014] Step 22, the installation form, load transmission mode and rod end freedom degree of the control device rod system of each component to be checked are determined, the separation surface of the simplified dynamic model of the component to be checked and the surrounding structure is constrained according to the actual load transmission mode and the freedom degree, and the constraint in the simplified dynamic model is performed by establishing a local coordinate system to constrain the separation surface.

[0015] Optionally, in the dynamic characteristic simulation analysis method of the helicopter control device, the step 21 comprises:

[0016] Step 21a, the connection form and load transmission mode between the internal structures of each component to be checked are determined, and for the components that transmit the same load between the internal structures of each component to be checked, the connection positions of the components are stitched by using a node in the simplified dynamic model during modeling, and the node that stitches the connection positions of the internal structures is used for the simplified model.

[0017] Optionally, in the dynamic characteristic simulation analysis method of the helicopter control device,

[0018] Step 21b, for each internal structure of the component to be checked, if the node stitching cannot be used in the modeling process, and the stiffness of the connection position is large enough, the rigid element RBE2 is used for connection, when the rigid element RBE2 is used for connection, the degrees of freedom between the internal structures and the load transmission mode are determined, and the rigid element RBE2 is established according to the actual degrees of freedom to connect.

[0019] Optionally, the dynamic characteristic simulation analysis method of the helicopter control device also includes the following steps:

[0020] Step 4, by comparing the test results of the dynamic characteristics of the helicopter control device with the simulation analysis results in step 3, the accuracy of the simulation analysis is verified, and the design is finally completed.

[0021] Optionally, in the dynamic characteristic simulation analysis method of the helicopter control device, the verification method in step 4 includes the following steps:

[0022] First, compare the mode shape change trend of the dynamic characteristic calculation result of the helicopter control device with the test result, then compare the size of the natural frequency corresponding to the same mode shape of the calculation result and the test result, and verify the accuracy of the simulation analysis.

[0023] In a second aspect, the embodiments of the present application provide a computer readable storage medium, including a memory and a processor;

[0024] The memory is configured to save executable instructions;

[0025] The processor is configured to implement the dynamic characteristic simulation analysis method of the helicopter control device according to any one of the above when executing the executable instructions saved by the memory.

[0026] The beneficial effects of the present application are: the embodiment of the present application provides a dynamic characteristic simulation analysis method of a helicopter control device, a simplified dynamic model for a component to be checked is established according to the actual structure of the helicopter control device; the separation surface of the component to be checked and the surrounding structure in the simplified dynamic model is constrained by determining the connection form of the component to be checked and the surrounding structure; and the separation surface of the internal structure of the component to be checked in the simplified dynamic model is constrained by determining the connection form of the internal structure of the component to be checked; the simplified dynamic model with the separation surface constraint is simulated and analyzed by using the finite element simulation analysis method, the dynamic characteristics of the helicopter control device are calculated, and the natural frequency and mode shape of the component to be checked are obtained by analysis. The innovation point of the technical scheme of the present application is the analysis and processing of the separation surface structure constraint between the to-be-checked region and the surrounding structure of the control device and the internal structure, according to the stress analysis, the constraint between the separation surfaces is simulated, the dynamic characteristic simulation analysis method provided by the embodiment of the present application can realize the dynamic characteristic simulation calculation of the helicopter control device, and the limitation that the previous calculation is inaccurate and can only rely on test is broken, which has great significance for improving the reliability of the structural strength design.

[0027] The related application examples show that the dynamic characteristic simulation analysis method provided by the embodiment of the present application is used for dynamic characteristic simulation calculation of a certain type of total distance rod, the dynamic characteristic simulation calculation of the control device can be realized, and the dynamic characteristic test results of the total distance rod are compared and analyzed, the simulation analysis accuracy is high, and the design efficiency is effectively improved; it is proved that the dynamic characteristic simulation analysis method provided by the present application provides an effective means for the dynamic characteristic simulation calculation of the control device, and has high universality. The technical scheme provided by the present application can simulate and analyze the control device in the design stage, and puts forward design suggestions and requirements for the design of the control device in the design stage. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the technical scheme of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the technical scheme of the present application, and do not constitute a limitation on the technical scheme of the present application.

[0029] Figure 1 A flowchart of a dynamic characteristic simulation analysis method of a helicopter control device provided by the embodiment of the present application is shown in the figure;

[0030] Figure 2 A position diagram of a total distance rod in a flight control cabin main rotor control device in the application example of the present application is shown in the figure;

[0031] Figure 3 For Figure 2 A structure diagram of a total distance rod system in the application example shown in the figure;

[0032] Figure 4 For Figure 2A schematic diagram of a finite element model of the total distance bar system in the application example shown. DETAILED DESCRIPTION

[0033] The accompanying drawings are included to provide a further understanding of the technical solutions of the present application, constitute a part of the specification and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0034] As described in the foregoing background, the helicopter control device is an important device for controlling the flight of the helicopter, and it is necessary to analyze the dynamic characteristics of the helicopter control device. In addition, in the conventional dynamic characteristic analysis process, the dynamic characteristic test can be carried out only after the installation requirements are met, and the test process is relatively complicated, and data analysis is required in the later stage, thereby leading to a tight test cycle, and high test manpower and cost.

[0035] In view of the above problems, the embodiment of the present application provides a dynamic characteristic simulation analysis method of a helicopter control device. The designer of the embodiment of the present application proposes that in actual engineering application, several factors that may cause simulation analysis failure are avoided:

[0036] 1. How to simplify the helicopter control device;

[0037] 2. How to determine the separation surface between the helicopter control device and other connected structures;

[0038] 3. How to determine the separation surface between the helicopter control device and other connected structures;

[0039] Based on the above discussion, how to simulate the separation surface inside the helicopter control device and the separation surface between the helicopter control device and the surrounding structure is a key factor to obtain a reliable and high-precision simulation analysis result. It is feasible and reliable to form a dynamic characteristic simulation analysis method of a helicopter control device and to popularize the method to the dynamic characteristic simulation analysis of the helicopter bar system structure.

[0040] The present application provides the following specific embodiments which can be combined with each other. For the same or similar concepts or processes, some embodiments may not be described again.

[0041] Figure 1 A flowchart of a dynamic characteristic simulation analysis method of a helicopter control device provided by the embodiment of the present application. The dynamic characteristic simulation analysis method of the helicopter control device provided by the embodiment of the present application comprises the following steps:

[0042] Step 1: According to the actual structure of the helicopter control device, a simplified dynamic model for the to-be-checked component is established;

[0043] In this step, according to the actual structure of the helicopter operating device, a simplified dynamic model of the operating device is determined, the simplified dynamic model including the main examination area of the helicopter operating device, that is, including the rod body (including the total distance rod, the periodic operating rod), the support, the handle, the pull rod and other structures.

[0044] In step 2, the connection form of the to-be-checked component and the peripheral structure is determined, the separation surface of the to-be-checked component and the peripheral structure in the simplified dynamic model is constrained, the connection form between the internal structures of the to-be-checked component is determined, and the separation surface of the internal structures of the to-be-checked component in the simplified dynamic model is constrained.

[0045] In step 3, the simplified dynamic model with the separation surface constraint is simulated and analyzed by using the finite element simulation analysis mode, the dynamic characteristics of the helicopter operating device are calculated, and the natural frequency and the vibration mode of the to-be-checked component are obtained by analysis.

[0046] In an implementation manner of the embodiment of the present application, the implementation process of step 1 can include:

[0047] In step 11, according to the actual structure of the helicopter operating device, the simplified stiffness model of each to-be-checked component is established according to the main force transmission route and the gravity center of the helicopter operating device, so as to truly simulate the stiffness distribution of the helicopter operating device.

[0048] In step 12, according to the weight gravity center and the actual installation position of each to-be-checked component, the weight gravity center of each to-be-checked component is simulated by using a concentrated mass unit (actually a mass point), the concentrated mass unit is connected to the actual installation node of the corresponding to-be-checked component by using a rigid connection unit on the simplified stiffness model, and the simplified dynamic model of each to-be-checked component is established, so as to truly simulate the mass distribution of the helicopter operating device.

[0049] In an implementation manner of the embodiment of the present application, the implementation process of step 2 can include:

[0050] In step 21, the connection form of each to-be-checked component and the peripheral structure and the connection form between the internal structures of each to-be-checked component are determined, according to the actual force transmission form of the connection structure, part of the connection structure is stitched by using a node in the simplified dynamic model, and part of the connection structure is connected rigidly in the simplified dynamic model.

[0051] In step 22, the installation form of each to-be-checked component, the load transmission mode and the rod end freedom degree of the operating device rod system are determined, the separation surface of the to-be-checked component and the peripheral structure in the simplified dynamic model is constrained according to the actual load transmission mode and the freedom degree, and since the freedom degree of the operating structure is not necessarily in the global coordinate system, the separation surface constraint is performed by establishing a local coordinate system in the simplified dynamic model.

[0052] The specific case of the step 21 of the implementation mode is, for example, that:

[0053] In one aspect, the connection form and load transmission mode between the internal structures of each component to be checked are determined, and for the components that transmit the same load between the internal structures of each component to be checked, the connection positions are stitched in the modeling process of the simplified dynamic model, and the nodes at the connection positions of the internal structures are stitched for the simplified model.

[0054] In another aspect, for each internal structure of the component to be checked, if the node stitching cannot be used in the modeling process and the stiffness of the connection position is large enough, the rigid element RBE2 is used for connection, and when the rigid element RBE2 is used for connection, the degrees of freedom between the internal structures and the load transmission mode are determined, and the rigid element RBE2 is established according to the actual degrees of freedom to perform connection.

[0055] Further, the method provided by the embodiment of the application further includes the following steps after the natural frequency and the mode shape of the component to be checked are obtained through the simulation analysis:

[0056] In step 4, the accuracy of the simulation analysis is verified by comparing the test results of the dynamic characteristics of the helicopter control device with the simulation analysis results in step 3, and finally the design is completed.

[0057] In this step, through comparison of the differences between the simulation results and the test results, the accuracy meets the engineering needs, indicating that the method can be used for the simulation verification analysis of the dynamic characteristics of the control device and can be extended to the simulation verification analysis of the dynamic characteristics of the helicopter linkage structure, and has high engineering application value.

[0058] The dynamic characteristic simulation analysis method of the helicopter control device provided by the embodiment of the application establishes a simplified dynamic model for the component to be checked according to the actual structure of the helicopter control device, restricts the separation surface of the component to be checked and the surrounding structure in the simplified dynamic model by determining the connection form of the component to be checked and the surrounding structure, and restricts the separation surface of the internal structure of the component to be checked in the simplified dynamic model by determining the connection form between the internal structures of the component to be checked. The simplified dynamic model with the separation surface restriction is simulated and analyzed by using the finite element simulation analysis method, the dynamic characteristics of the helicopter control device are calculated, the natural frequency and the mode shape of the component to be checked are obtained by analysis. The innovation point of the technical scheme of the application lies in the analysis and processing of the separation surface structure constraints between the to-be-checked region and the surrounding structure of the control device and the internal structures, the constraints between the separation surfaces are simulated according to the force analysis, the dynamic characteristic simulation analysis method provided by the embodiment of the application can realize the dynamic characteristic simulation calculation of the helicopter control device, and breaks through the limitation that the previous calculation is inaccurate and can only rely on tests, which has great significance for improving the reliability of the structural strength design.

[0059] Related application examples demonstrate that the dynamic characteristics simulation and analysis method provided by the present invention can be used to simulate the dynamic characteristics of a certain type of collective pitch lever. This method can be used to simulate the dynamic characteristics of a control device, and compared with the dynamic characteristics test results of the collective pitch lever. The simulation analysis is highly accurate, effectively improving design efficiency. This demonstrates that the dynamic characteristics simulation and analysis method provided by the present invention provides an effective means for simulating the dynamic characteristics of control devices and has high universality. The technical solution provided by the present invention can simulate and analyze the control device during the design phase, providing design suggestions and requirements for the control device during the design phase.

[0060] The following is a schematic illustration of the dynamic characteristics simulation analysis method of a helicopter control device provided by an embodiment of the present invention through a specific application example.

[0061] Application Examples

[0062] Figure 2 Schematic diagram of the position of the collective pitch lever in the main propeller control device in the flight control cabin in an application example of the present invention. Figure 3 for Figure 2 The structural diagram of the collective pitch rod system in the application example shown is as follows. Figure 4 for Figure 2 The finite element model diagram of the collective pitch lever system in the application example shown. The dynamic characteristics simulation analysis method of the helicopter control device provided by this application example includes the following steps:

[0063] Step 1: Establish a simplified dynamic model of the collective pitch rod based on its actual structure;

[0064] According to the overall design requirements, the dynamic characteristics of the collective pitch rod are evaluated. The simplified dynamic model of the collective pitch rod includes the rod body, support, collective pitch rocker arm, handle, pull rod and other structures, such as Figure 3 As shown in the figure, a stiffness model of the collective lever is established based on its structure and main force transmission path. Based on the collective lever's center of gravity, a lumped mass element is used to simulate its weight. Within the simplified stiffness model, rigid connection elements are used to connect the lumped mass elements to the actual mounting nodes of the corresponding components to be verified, effectively simulating the stiffness and mass distribution of the control device. In the simplified dynamic model of the collective lever, the lever body and bolts are simulated using beam elements (1D_Beam), the supports are simulated using shell elements (2D_Shell), the collective rocker arm is simulated using solid elements (Tet10 (SOLID), and the weight is simulated using lumped mass elements (0D_Mass).

[0065] This step in the modeling process, the concentrated mass according to the actual installation location, through the rigid connection unit is connected to the respective actual installation node. The handle of the total distance rod body end, according to its weight, the center of gravity is appropriately agglomerated, in the form of concentrated mass (CONM2), through the rigid element (RBE3) is connected to the total distance rod body node; determine the connection mode of the total distance rod and the surrounding structure and the connection mode between the internal structure of the total distance rod, according to the corresponding force transmission form, part of the node stitching, part of the rigid unit (RBE2) connection.

[0066] Step 2, determine the connection mode of the total distance rod and the surrounding structure, and constrain the separation surface

[0067] The total distance rod and the total distance rod are connected by bolts, and the connection between the bolt and the rocker arm is simulated by the rigid element (RBE3). At this point, the total distance rod is separated from the surrounding structure, and the constraint in the XZ direction is performed according to the force analysis and the connection mode. The support and the machine structure are connected by four bolts, and the constraints in XYZ directions are performed according to the force analysis and the connection mode.

[0068] Step 3, determine the connection mode between the internal structure of the total distance rod, and constrain the separation surface;

[0069] The rocker arm and the support are connected by bolts, and the connection between the bolt and the rocker arm and the support is simulated by the rigid element (RBE2). After the rod body passes through the rocker arm, it is connected by bolts, and the connection between the rod body and the rocker arm is simulated by the rigid element (RBE2).

[0070] Step 4, calculate the dynamic characteristics by finite element simulation, and obtain the natural frequency and mode shape of the total distance rod;

[0071] The natural frequency of the total distance rod is calculated by using the finite element software MSC. Nastran, and the real eigenvalue solution sequence (SOL 103) is used to solve the undamped free vibration. The solving method is Lanczos. According to the calculation result, the natural frequency and mode shape of the total distance rod are analyzed, and the natural frequency and mode shape of the total distance rod are obtained.

[0072] Step 5, compare the test results with the simulation analysis results, verify the accuracy of the simulation analysis, and finally complete the design.

[0073] In this step, by comparing the mode shape trend of the straight total distance rod dynamic characteristic calculation result and the test result, and then comparing the natural frequency corresponding to the same mode shape of the calculation result and the test result, the accuracy of the simulation analysis is verified.

[0074] As shown in Table 1, the helicopter total distance rod installation natural frequency obtained in the application example of the present application is shown in the following table 1.

[0075] Table 1 helicopter total distance rod installation natural frequency (unit: Hz)

[0076]

[0077] In the application example, the total distance bar of a certain type of helicopter is taken as an example, and the dynamic characteristic test of the total distance bar of the type of helicopter is taken as an application example. Compared with the simulation analysis method proposed in the embodiment of the application, the simulation result of the application is consistent with the measured data, the precision meets the engineering needs, the dynamic characteristic simulation analysis method provided by the application has high engineering application value when applied to the dynamic characteristic analysis of the helicopter bar system.

[0078] Although the embodiments disclosed by the present application are as above, the content is only the embodiment adopted for the purpose of facilitating the understanding of the present application, and is not used to limit the present application. Any person skilled in the art of the present application can make any modification and change in the form and details without departing from the spirit and scope of the present application. However, the patent protection scope of the present application shall be subject to the scope defined by the appended claims.

Claims

1. A method of simulation analysis of dynamic characteristics of a helicopter handling device, characterized by, The method comprises the following steps: Step 1, according to the actual structure of the helicopter control device, a simplified dynamic model for the component to be checked is established; Step 2, the connection form of the component to be checked and the surrounding structure is determined, and the separation surface of the component to be checked and the surrounding structure in the simplified dynamic model is constrained; the connection form of the internal structures of the component to be checked is determined, and the separation surface of the internal structures of the component to be checked in the simplified dynamic model is constrained; Step 3, the simplified dynamic model with the separation surface constraint is simulated and analyzed by using the finite element simulation analysis method, the dynamic characteristics of the helicopter control device are calculated, and the natural frequency and mode shape of the component to be checked are obtained by analysis; The step 1 comprises the following steps: Step 11, according to the actual structure of the helicopter control device, the simplified stiffness model of each component to be checked is established according to the main force transmission route and the gravity center of the helicopter control device, so as to simulate the stiffness distribution of the helicopter control device; Step 12, according to the weight gravity center and the actual installation position of each component to be checked, the weight gravity center of each component to be checked is simulated by using a concentrated mass unit, the concentrated mass unit is connected to the actual installation node of the corresponding component to be checked by using a rigid connection unit on the simplified stiffness model, and the simplified dynamic model of each component to be checked is established, so as to simulate the mass distribution of the helicopter control device; The step 2 comprises the following steps: Step 21, the connection form of each component to be checked and the surrounding structure, and the connection form between the internal structures of each component to be checked are determined, according to the actual force transmission form of the connection structure, part of the connection structure is stitched by using a node in the simplified dynamic model, and part of the connection structure is connected by using a rigid connection in the simplified dynamic model; Step 22, the installation form, load transmission mode and rod end freedom degree of the control device rod system of each component to be checked are determined, the separation surface of the component to be checked and the surrounding structure in the simplified dynamic model is constrained according to the actual load transmission mode and the freedom degree, and the separation surface constraint of the simplified dynamic model is realized by establishing a local coordinate system.

2. The dynamic characteristic simulation analysis method of a helicopter handling device according to claim 1, characterized in that, The node stitching method in the step 21 comprises the following steps: Step 21a, the connection form and load transmission mode between the internal structures of each component to be checked are determined, the nodes at the connection positions of the internal structures of each component to be checked are stitched in the modeling process, and the nodes at the connection positions of the internal structures are used for the simplified model.

3. The dynamic characteristic simulation analysis method of a helicopter handling device according to claim 1, characterized in that, The rigid connection method in the step 21 comprises the following steps: Step 21b, for the internal structures of each component to be checked, if the node cannot be stitched in the modeling process and the stiffness of the connection position is large enough, a rigid unit RBE2 is used for connection, the freedom degree and load transmission mode between the internal structures are determined, and the rigid unit RBE2 is connected according to the actual freedom degree.

4. The dynamic characteristic simulation analysis method of a helicopter handling device according to any one of claims 1 to 3, characterized in that, The method further comprises the following steps: Step 4, the accuracy of the simulation analysis is verified by comparing the test results of the dynamic characteristics of the helicopter control device with the simulation analysis results in step 3, and the design is finally completed.

5. The dynamic characteristic simulation analysis method of a helicopter handling device according to claim 4, characterized in that, The verification method in the step 4 comprises the following steps: Firstly, the change trend of the mode of the simulation results and the test results of the dynamic characteristics of the helicopter control device is compared, and then the size of the natural frequency corresponding to the same mode of the simulation results and the test results is compared to verify the accuracy of the simulation analysis.

6. A computer-readable storage medium, characterized in that, Comprise: a memory and a processor; the memory is configured to save executable instructions; the processor is configured to implement the simulation analysis method of the dynamic characteristics of the helicopter control device in any one of claims 1-5 when executing the executable instructions saved by the memory.

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