适应升、推力调节的倾转旋翼机过渡自动控制

余新; 赵燕勤; 陈仁良; 余腾忠; 周攀

doi:10.13224/j.cnki.jasp.20240479

适应升、推力调节的倾转旋翼机过渡自动控制

doi: 10.13224/j.cnki.jasp.20240479

余新^1,,
赵燕勤¹,
陈仁良²,
余腾忠³,
周攀^4,*, ,

1.
南昌航空大学民航学院，南昌 330063
2.
南京航空航天大学航空学院直升机动力学全国重点实验室，南京 210016
3.
浙江正康实业股份有限公司，浙江温州 325024
4.
中国空气动力研究与发展中心空天飞行空气动力科学与技术全国重点实验室，四川绵阳 621000

基金项目: 南昌航空大学博士启动基金（EA202416153）；空天飞行空气动力科学与技术全国重点实验室开放课题资助（RAL202404-2）；江西省科技厅项目（CK202417490）

详细信息

作者简介:
余新（1994-），男，讲师，博士，主要从事旋翼飞行器飞行动力学与控制。E-mail：yxaero@nchu.edu.cn

通讯作者:
周攀（1992-），男，工程师，博士，主要从事旋翼飞行器飞行动力学与控制。E-mail：chowpane@163.com

中图分类号: V212.4
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出版历程
- 收稿日期: 2024-07-17
- 网络出版日期: 2024-12-19

Tiltrotor aircraft automatic conversion control adapted to lift and thrust regulation

1.
College of Civil Aviation，Nanchang Hangkong University，Nanchang 330063，China
2.
National Key Laboratory of Helicopter Aeromechanics，College of Aerospace Engineering，Nanjing University of Aeronautics and Astronautics，Nanjing 210016，China
3.
Zhejiang Zhengkang Industry Company Limited，Wenzhou Zhejiang 325024，China
4.
State Key Laboratory of Aerodynamics，China Aerodynamics Research and Development Center，Mianyang Sichuan 621000，China

摘要

摘要:
提出一种考虑飞行器升、推力匹配特性的过渡自动控制方法，并从驾驶员操纵负荷角度评价过渡自动控制的有效性。通过稳态计算，分析了倾转走廊内旋翼和机翼升力匹配特性，并规划得到期望倾转路径，以及相应阶段的短舱速率分布。在基础增稳控制回路上，引入总距和迎角调节分别实现旋翼升、推力和机翼升力对期望路径的匹配。在总距和迎角控制结构中，分别引入静态的路径参数前馈和指令调度以适应飞行器过渡过程升、推力特性，并结合分治高度反馈来消除静态规划与动态倾转之间的误差。引入驾驶员模型并通过小波分析量化驾驶员操纵负荷。相较于由驾驶员控制的机动过程，自动控制能够有效降低驾驶员操纵负荷，总距杆和纵向杆的最大能量幅值分别降低33%和27%，并且两者频率成分降低到0.8 rad/s以下，驾驶员操纵改善到等级1的飞行品质等级。此外，自动控制有效消除动态倾转误差，表现在对期望路径的跟踪误差小，高度变化小。
- 倾转旋翼机 /
- 驾驶员操纵负荷 /
- 过渡机动 /
- 倾转路径 /
- 控制策略 /
- 飞行控制律
Abstract:
An automatic transition control method considering aircraft lift and thrust characteristic was proposed, and the effectiveness was evaluated by measurement of pilot workload. The lift and thrust between rotor and wing in conversion corridor were analyzed through steady-state calculation, and a desired conversion path and nacelle rate distribution in different phases were planned. The collective pitch and angle of attack were introduced to adjust the rotor lift and thrust and wing lift respectively to match the desired path. In the control structures of collective pitch and angle of attack, feedforward and command schedule of static path parameters were introduced to adapt to the lift and thrust characteristics of the aircraft, and the error between static planning and dynamic tilting was eliminated by combining conquer altitude feedback. A pilot model was introduced and the workload was quantified by wavelet analysis. Compared with the maneuver executed by a pilot, the automatic transition control can effectively reduce the pilot workload, the maximum energy amplitudes of the collective and longitudinal inputs were reduced by 33% and 27%, respectively. And the frequency components of both controls were reduced to below 0.8 rad/s, indicating level 1 handling quality rating. Meanwhile, the automatic transition control eliminated the dynamic error effectively, with smaller tracking error of desired path and height variation.
- tiltrotor aircraft /
- pilot workload /
- conversion maneuver /
- conversion path /
- control strategy /
- flight control law

HTML

图 1 倾转旋翼机典型飞行模式

Figure 1. Typical flight modes of tiltrotor aircraft

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图 2 不同稳态飞行条件的配平解对比

Figure 2. Comparison of the trim solutions in different steady flight conditions

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图 3 倾转走廊计算结果与飞行数据对比

Figure 3. Comparison of the calculated conversion corridor with the flight data

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图 4 基于升、推力调节的过渡控制策略

Figure 4. Transition control strategy via regulating of lift and thrust

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图 5 具有设计安全裕度的倾转走廊

Figure 5. A conversion corridor with the designed safety margin

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图 6 用于升力匹配特性分析的倾转路径

Figure 6. Conversion path for lift matching characteristic analysis

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图 7 不同过渡条件下的旋翼和机翼升力匹配特性

Figure 7. Lift matching characteristic of wing and rotor in different conversion conditions

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图 8 不同过渡条件下的旋翼推力变化匹配特性

Figure 8. Thrust of rotor in different conversion conditions

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图 9 考虑旋翼和机翼升力匹配变化率的期望倾转路径

Figure 9. Desired conversion path considering the rate of lift matching between rotor and wing

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图 10 基于线性参数时变动态逆的控制增稳回路

Figure 10. SCAS via linear parameter-varying dynamic inverse

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图 11 基于迎角调节的机翼升力自动控制

Figure 11. Lift automatic control of wing via regulation of angle of attack

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图 12 基于总距调节的旋翼升、推力自动控制

Figure 12. Lift and thrust automatic control of rotor via regulation of the collective pitch

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图 13 用于在线调度的倾转路径解算参数

Figure 13. Resolved parameters of the conversion path for online scheduling

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图 14 用于过渡自动控制验证的仿真策略

Figure 14. Simulation strategies for the verification of the automatic conversion control

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图 15 过渡机动过程中飞行状态的时间历程对比

Figure 15. Comparison of time history for flight states in the conversion procedures

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图 16 过渡机动过程中控制量的时间历程

Figure 16. Comparison of time history for control inputs in the conversion procedures

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图 17 驾驶员主观决策的过渡机动过程驾驶杆输入小波分析结果

Figure 17. Wavelet transform results of stick inputs for conversion maneuver procedure with pilot subjective decision

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图 18 集成过渡自动控制的过渡机动过程驾驶杆输入小波分析结果

Figure 18. Wavelet transform results of stick inputs for conversion maneuver procedure with the automatic conversion control

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图 19 期望路径跟踪对比结果

Figure 19. Comparison of tracking results for the conversion paths

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表 1 不同过渡阶段的路径参数、加速度和短舱速率

Table 1. Parameter of the conversion path，acceleration and nacelle tilting rate for different conversion phases

设计参数	数值
设计参数	阶段A （${P_1} - {P_2}$）	阶段B （${P_1} - {P_2}$）	阶段C （${P_2} - {P_3}$）
$ {k_{{\text{iv}}}}/ （{{ （{\text{°}} ） } / { （{\text{m}} \cdot {\text{s}}}}）） $	0.423	2.59	6.02
$ \bar a/ （{\text{m}} / {{\text{s}}^{2}}） $	2.36	1.93	1.66
$ {\dot i_{\text{n}}}/ （（{{\text{°}}） /{\mathrm{s}}}） $	1.0	5.0	10.0

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