一种改进的无人直升机离合器接合控制方法

周尧明; 章磊; 何维; 武哲

一种改进的无人直升机离合器接合控制方法

北京航空航天大学航空科学与工程学院,北京 100191

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出版历程
- 收稿日期: 2011-09-06
- 刊出日期: 2012-08-28

Improved clutch engagement control method for unmanned helicopter

School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics,Beijing 100191,China

摘要

摘要: 针对原控制方法的不足,探讨一种提高离合器接合品质的方式.基于某型无人直升机离合器的动力学特性研究,通过分析离合器接合过程对传动系统冲击及传动带寿命的影响,确定了离合器的控制要求.选取离合器主动轮与从动轮的转速作为基本输入参数,确定理想的转速曲线.接合过程的3个阶段依次采用开环控制、闭环控制、开环控制,其中闭环控制采用PID(比例-积分-微分)控制与模糊控制相结合的控制方法,以实现离合器的平稳、快速接合.分别进行原控制方法和改进控制方法的无人直升机离合器接合试验.结果显示:相比于原控制方法,改进控制方法的接合时间缩短了约1/3,最大冲击度减少了2/3以上,滑摩功减少了1/2以上.试验结果表明:采用改进的控制方法可改善离合器的接合品质.
- 无人直升机 /
- 离合器接合控制 /
- 冲击度 /
- 滑摩功 /
- 比例、积分、微分(PID) 控制 /
- 模糊控制
Abstract: In light of the former method's shortcoming,a new method was explored to improve clutch engagement quality.The clutch control requirements were determined based on the dynamics characteristic research of an unmanned helicopter clutch and the analysis of the effect of clutch engagement process on transmission impact and belt life.The rotating speed of clutch driving pulley and driven pulley were selected as basic input parameters.Ideal rotating speed curves were proposed.Three stages of engagement process adopted open-loop control,closed-loop control and open-loop control in turn.To realize the smooth and quick engagement,the closed-loop control adopted the combination of proportion integration differentiation(PID) control and fuzzy control.The experiments were conducted by using former control method and improved control method respectively.The results show that,as compared with former control method,the engagement time of improved control method shortens 1.5 times, the maximum jerk decreases 3 times,and the sliding friction work decreases twice. These prove that the improved control method can improve clutch engagement quality.
- unmanned helicopter /
- clutch engagement control /
- jerk /
- sliding friction work /
- proportion integration differentiation(PID) control /
- fuzzy control

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参考文献(23)

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