基于主动喷气装置和吊索反馈技术的直升机吊挂增稳方法

冯新明; 段登燕; 赵洪; 祖瑞; 李建波

doi:10.13224/j.cnki.jasp.20230451

基于主动喷气装置和吊索反馈技术的直升机吊挂增稳方法

doi: 10.13224/j.cnki.jasp.20230451

南京航空航天大学航空学院，南京 210016

详细信息

作者简介:
冯新明（1999-），男，硕士生，主要从事直升机飞行力学与控制研究。E-mail：15605165062@sina.cn

通讯作者:
李建波（1967-），男，研究员、博士生导师、博士，主要研究直升机总体设计。E-mail：ljb101@nuaa.edu.cn

中图分类号: V249.122
计量
- 文章访问数: 665
- HTML浏览量: 152
- PDF量: 35
- 被引次数: 0
出版历程
- 收稿日期: 2023-07-12
- 网络出版日期: 2024-05-15

A method for increasing stability of helicopter suspension based on active jet device and sling feedback

College of Aerospace Engineering，Nanjing University of Aeronautics and Astronautics，Nanjing 210016，China

摘要

摘要:
提出了结合主动喷气装置和吊索反馈技术的吊挂增稳方法。建立了CH-47纵列式直升机/柔性吊索/刚体吊挂物耦合飞行力学模型。针对吊挂物摆动及不稳定偏航运动，设计了一套主动喷气装置，通过涵道风扇产生抑制吊挂物摆动和偏航的阻尼力及力矩。考虑喷气装置的驱动力限制，引入吊索反馈技术进一步抑制吊挂物摆动。采用自抗扰技术控制直升机姿态以抑制吊挂物给直升机带来的扰动。研究了吊索反馈增益补偿、喷气装置最大驱动力等关键参数对吊挂增稳性能及喷气装置能量消耗的影响，结果表明：主动喷气装置的引入显著地抑制了吊挂物的摆动与偏航；结合两种增稳技术的增稳方法在合理的参数配置下，较单独采用主动喷气装置能量消耗减少，较单独采用任一种增稳技术的增稳性能增加。
- 吊挂飞行 /
- 纵列式直升机 /
- 自抗扰控制 /
- 吊索反馈 /
- 主动喷气装置
Abstract:
A method of increasing stability of suspension by combining active jet device and sling feedback was proposed. The coupling model of CH-47 helicopter/elastic sling/rigid body hanging object was established. Targeting the swing and unstable yaw motion of the hanging object, an active jet device was designed to generate damping force and torque to restrain the swing and yaw of the hanging object through the thrust of the ducted fan. Considering the driving force limitation of the jet device, sling feedback was introduced to further inhibit the swing of the hanging object. The attitude control of the helicopter adopted active disturbance rejection control to suppress the disturbance caused by the movement of the hanging object. The effects of key parameters such as the sling feedback gain compensation and the maximum driving force on the stability of the slung and the energy consumption of the jet were studied. The results showed that the introduction of active jet significantly inhibited the swing and yaw of the hanging object; under reasonable parameter configuration, the combined stability augmentation method had lower energy consumption and better stability augmentation performance than active jet device alone.
- slung flight /
- tandem helicopter /
- active disturbance rejection control /
- sling feedback /
- active jet device

HTML

图 1 吊挂物/直升机耦合系统

Figure 1. hanging object/helicopter coupling system

下载: 全尺寸图片幻灯片

图 2 吊挂物偏航角速率对直升机航向操纵响应

Figure 2. Response of hanging object yaw rate to helicopter course maneuvering

下载: 全尺寸图片幻灯片

图 3 主动喷气装置涵道风扇组布局图

Figure 3. Active jet duct fan group layout

下载: 全尺寸图片幻灯片

图 4 直升机控制图

Figure 4. Helicopter control chart

下载: 全尺寸图片幻灯片

图 5 吊索反馈机理图

Figure 5. Sling feedback mechanism diagram

下载: 全尺寸图片幻灯片

图 6 ADRC结构图

Figure 6. ADRC structure diagram

下载: 全尺寸图片幻灯片

图 7 姿态控制仿真对比

Figure 7. Attitude control simulation comparison

下载: 全尺寸图片幻灯片

图 8 ADRC姿态控制时吊挂物与直升机纵向位置差

Figure 8. Longitudinal position difference between the hanging object and the helicopter with ADRC attitude control

下载: 全尺寸图片幻灯片

图 9 不同增益补偿$G$的仿真结果

Figure 9. Simulation results with different gain compensation $G$

下载: 全尺寸图片幻灯片

图 10 飞行科目仿真结果

Figure 10. Flight simulation results

下载: 全尺寸图片幻灯片

图 11 不同增益补偿下的能耗性能测试

Figure 11. Performance test of energy consumption with different gain compensation

下载: 全尺寸图片幻灯片

图 12 不同最大驱动力下的结果

Figure 12. Results of different maximum driving forces

下载: 全尺寸图片幻灯片

参考文献(26)

[1]	IVLER C. Design and flight test of a cable angle feedback control system for improving helicopter slung load operations at low speed[D]. Stanford,US: Leland Stanford Junior University,2012.
[2]	DUKES T A. Maneuvering heavy sling loads near hover: Part Ⅰ damping the pendulous motion[J]. Journal of the American Helicopter Society,1973,18(2): 2-11. doi: 10.4050/JAHS.18.2.2
[3]	DUKES T A. Maneuvering heavy sling loads near hover: Part Ⅱ some elementary maneuvers[J]. Journal of the American Helicopter Society,1973,18(3): 17-22. doi: 10.4050/JAHS.18.17
[4]	IVLER C,TISCHLER M,POWELL J D. Cable angle feedback control systems to improve handling qualities for helicopters with slung loads [R]. AIAA 2011-6686,2011.
[5]	IVLER C M,POWELL J D,TISCHLER M B,et al. Design and flight test of a cable angle feedback flight control system for the RASCAL JUH-60 helicopter[J]. Journal of the American Helicopter Society,2014,59(4): 42008.
[6]	BISGAARD M,COUR-HARBO A L,BENDTSEN J D. Input shaping for helicopter slung load swing reduction[R]. AIAA 2008-6964,2008.
[7]	BISGAARD M,COUR-HARBO A L,BENDTSEN J D. Adaptive control system for autonomous helicopter slung load operations[J]. Control Engineering Practice,2010,18(7): 800-811. doi: 10.1016/j.conengprac.2010.01.017
[8]	POTTER J,SINGHOSE W,COSTELLOY M. Reducing swing of model helicopter sling load using input shaping[C]//2011 9th IEEE International Conference on Control and Automation. Piscataway,US: IEEE,2011: 348-353.
[9]	GERA J,FARMER S W. A method of automatically stabilizing helicopter sling loads[R]. NASA TN D-7593,1974.
[10]	CICOLANI L S,EHLERS G E. Modeling and simulation of a helicopter slung load stabilization device[R]. Montreal,Canada:American Helicopter Society 58th Annual Forum,2002.
[11]	RAZ R,ROSEN A,CARMELI A,et al. Wind tunnel and flight evaluation of passive stabilization of a cargo container slung load[J]. Journal of the American Helicopter Society,2010,55(3): 32001-3200118. doi: 10.4050/JAHS.55.032001
[12]	CYR D,GUARINO P,HITCHEN J,et al. Stabilization of helicopter sling loads with passive and active control surfaces[R]. AIAA 2016-2031,2016.
[13]	CICOLANI L,IVLER C,OTT C,et al. Rotational stabilization of cargo container slung loads[J]. Journal of the American Helicopter Society,2015,60(4): 1-13.
[14]	PARDUE M D,SHAUGHNESSY J D. Design and analysis of an active jet control system for helicopter sling loads[M]. Washington:NASA Scientific and Technical Information Office,1979.
[15]	RAZ R,ROSEN A,CICOLANI L S,et al. Using wind tunnel tests for slung-load clearance: Part 1 the CONEX cargo container[J]. Journal of the American Helicopter Society,2014,59(4): 42003.
[16]	EHLERS G E. Hi-fidelity simulation and prediction of helicopter single point external load stabilization [R]. Monterey,US:Naval Postgraduate School Monterey,2001.
[17]	HOH R H,HEFFLEY R K,MITCHELL D G. Development of handling qualities criteria for rotorcraft with externally slung loads[R]. NASA CR-2006-213488,2006.
[18]	OSTROFF A,DOWNING D R,ROOD W. A technique using a nonlinear helicopter model for determining trims and derivatives[R]. NASA TN D-8159,1976.
[19]	陈元. 直升机吊挂飞行动力学建模及耦合研究[D]. 南京: 南京航空航天大学,2018. CHEN Yuan. Flight dynamics modeling & coupling investigation of A helicopter suspended by a slung load[D]. Nanjing: Nanjing University of Aeronautics and Astronautics,2018. (in Chinese CHEN Yuan. Flight dynamics modeling & coupling investigation of A helicopter suspended by a slung load[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018. (in Chinese)
[20]	PROSSER D T. Advanced computational techniques for unsteady aerodynamic-dynamic interaction of bluff bodies[D]. Atlanta,US: Georgia Institute of Technology,2015.
[21]	许和勇,叶正寅. 涵道螺旋桨与孤立螺旋桨气动特性的数值模拟对比[J]. 航空动力学报,2011,26(12): 2820-2825. XU Heyong,YE Zhengyin. Numerical simulation and comparison of aerodynamic characteristics between ducted and isolated propellers[J]. Journal of Aerospace Power,2011,26(12): 2820-2825. (in Chinese XU Heyong, YE Zhengyin. Numerical simulation and comparison of aerodynamic characteristics between ducted and isolated propellers[J]. Journal of Aerospace Power, 2011, 26(12): 2820-2825. (in Chinese)
[22]	刘沛清,鲁金华. 涵道螺旋桨气动计算的片条理论及其应用[R]. 河北保定: 第二十二届全国直升机年会,2006. LIU Peiqing,LU Jinhua. Strip theory and application for shrouded propeller aerodynamic design [R]. Baoding Hebei: The 22nd National Helicopter Annual Conference,2006. (in Chinese LIU Peiqing, LU Jinhua. Strip theory and application for shrouded propeller aerodynamic design [R]. Baoding Hebei: The 22nd National Helicopter Annual Conference, 2006. (in Chinese)
[23]	韩京清. 自抗扰控制技术: 估计补偿不确定因素的控制技术[M]. 北京: 国防工业出版社,2008: 46-262. HAN Jingqing. Active disturbance rejection control technique[M]. Beijing: National Defense Industry Press,2008: 46-262. (in Chinese HAN Jingqing. Active disturbance rejection control technique[M]. Beijing: National Defense Industry Press, 2008: 46-262. (in Chinese)
[24]	邓柏海,徐锦法. 复合式无人直升机姿态自抗扰控制[J]. 北京航空航天大学学报,2023,49(11): 3100-3107. DENG Bohai,XU Jinfa. Active disturbance rejection control of attitude of compound unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(11): 3100-3107. (in Chinese DENG Bohai, XU Jinfa. Active disturbance rejection control of attitude of compound unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2023, 49(11): 3100-3107. (in Chinese)
[25]	GAO Zhiqiang. Scaling and bandwidth-parameterization based controller tuning[C]//Proceedings of the 2003 American Control Conference. Piscataway,US: IEEE,2003: 4989-4996.
[26]	聂文松,曹义华,李强. 直升机吊挂控制系统飞行品质分析[J]. 航空动力学报,2021,36(1): 130-136. NIE Wensong,CAO Yihua,LI Qiang. Flying qualities analysis for helicopter-slung load control system[J]. Journal of Aerospace Power,2021,36(1): 130-136. (in Chinese NIE Wensong, CAO Yihua, LI Qiang. Flying qualities analysis for helicopter-slung load control system[J]. Journal of Aerospace Power, 2021, 36(1): 130-136. (in Chinese)