【作者】 张建；

【导师】 欧阳奇； 彭先敏；

【作者基本信息】 重庆大学 ， 工程（控制工程）（专业学位）， 2020， 硕士

【摘要】 近年来直升机无论在军事还是民用领域都大放异彩,军事领域其既能开展普通运输任务又能承担对地打击等战斗任务,民用领域其短线航空运输能力、灾难搜救能力也非常出众,这些都得益于直升机飞行性能的独特性。但是由于直升机通常的工作环境都非常恶劣,其桨叶在高速旋转时产生的强烈振动以及气动干扰,导致直升机的控制具有很大难度。我国通常通过直升机风洞试验,来研究直升机的性能、气动特性、噪声和振动特性等,以此来完成直升机飞控系统的研制。论文介绍了直升机在飞行控制中旋翼桨距变换的基本原理,总结了国内外直升机飞行控制系统的研究发展现状,在借鉴目前优秀飞控系统研发的经验基础之上,结合自身试验条件、学习能力,研制了一套直升机模型旋翼变桨距控制系统。论文的主要工作如下:(1)考虑到直升机模型旋翼控制中干扰比较强,采用自抗扰+PI双闭环的控制方法对实现桨距变换的电机进行控制,电机的转速环采用自抗扰方法控制,电流环采用PI方法控制,并建立仿真模型与采用PI控制转速环电流环的电机仿真结果进行对比,在外界有相同干扰的情况下,自抗扰加PI的控制方式明显优于只用PI控制的方式。(2)根据课题要求,设计系统总体方案,采用PC+运动控制器的方式作为系统的控制方案,上位机作为系统控制核心之一,主要是控制指令输入与系统状态监控,下位机主要完成系统的运动控制,上位机与下位机协同工作,共同组成直升机模型旋翼变桨距控制系统的软件部分,该系统具有模块化,便于升级和维护的特点。(3)搭建实验平台,针对课题的功能需求对整套系统进行一一验证,同时观察系统的稳定性和可靠性,根据各项实验数据显示出,系统控制方案的正确性,各项试验指标也符合预期。综上所述,本文采用模块化的技术思路研究开发了一套直升机模型旋翼变桨距控制系统,实验测试结果达到了课题的控制要求。更多还原

【Abstract】 In recent years,helicopters have shined in both military and civilian fields.In the military field,they can not only carry out ordinary transportation tasks but also undertake combat missions such as ground strikes.The civilian fields also have outstanding short-term air transport capabilities and disaster search and rescue capabilities.Benefit from the uniqueness of helicopter flight performance.However,because the usual working environment of a helicopter is very harsh,the strong vibration and aerodynamic interference generated by its blades rotating at high speed make it very difficult to control the helicopter.China usually uses helicopter wind tunnel tests to study helicopter performance,aerodynamic characteristics,noise and vibration characteristics,etc.,to complete the development of helicopter flight control systems.The paper introduces the basic principles of helicopter rotor pitch conversion in flight control,summarizes the research and development status of helicopter flight control systems at home and abroad,and draws on the experience of current excellent flight control system research and development,combined with its own test conditions and learning capabilities,Designed a helicopter model rotor variable pitch control system.The main work of the paper is as follows:(1)Considering that the helicopter model rotor control has strong interference,the auto-interference rejection + PI double closed-loop control method is used to control the motor that realizes the pitch conversion.The speed loop of the motor is controlled by the auto-interference rejection method,and the current loop is controlled by the PI method.The simulation model is established and compared with the simulation results of the motor using PI to control the speed loop current loop.In the case of the same interference from the outside world,the control method of auto-immunization and PI is significantly better than the method of using only PI control.(2)According to the requirements of the subject,the overall plan of the system is designed.The PC + motion controller is adopted as the control plan of the system.The upper computer is one of the cores of the system control,which is mainly the control command input and system status monitoring.The upper computer and the lower computer work together to form the software part of the model rotor variable pitch control system.The system has the characteristics of modularization,easy to upgrade and maintain.(3)Build an experimental platform,verify the entire system one by one according to the functional requirements of the subject,and observe the stability and reliability of the system at the same time.According to the experimental data,the correctness of the system control scheme and the test indicators are also in line with expectations.In summary,this paper studies and designs a helicopter model rotor variable pitch control system in a modular manner,and the experimental test results meet the control requirements of the subject.更多还原