舰尾流随高扰动模型对直升机着舰悬停控制的影响研究

Research on the Influence of Ship Wake with High Disturbance Model on Helicopter Landing and Hovering Control

摘要:

大海况下存在的复杂舰尾流严重影响直升机着舰时的飞行姿态，针对常规舰尾流模型仅适用于研究直升机纵向运动受干扰的问题，本文在美军标 MIL-F-8785C 描述的舰尾流模型基础上，提出增加随高度变化的垂向扰动分量，建立舰尾流随高扰动模型，以便切合实际地反映垂向干扰的作用强度。将该模型引入直升机着舰悬停系统后，针对传统 PID 控制对高度保持和位置控制效果不佳的问题，提出基于前馈补偿的改进 PID 控制，对比仿真结果表明，所提控制方法具有较高的跟踪精度和良好的鲁棒性，能够满足实际舰尾流扰动下的直升机着舰悬停的控制要求。

Abstract:

The complex ship wake under large sea conditions seriously affects the flight attitude of helicopter landing. In view of the problem that the conventional ship wake model is only suitable for studying the interference of helicopter longitudinal motion, based on the ship wake model described in the American Standard MIL-F-8785C, this paper proposes to increase the vertical disturbance component varying with height and establish the ship wake disturbance model with height, so as to realistically reflect the action intensity of vertical interference. After the model is introduced into the helicopter landing and hovering system, aiming at the poor effect of traditional PID control on height maintenance and position control, an improved PID control based on feedforward compensation is proposed. The comparative simulation results show that the proposed control method has high tracking accuracy and good robustness, it can meet the control requirements of helicopter landing and hovering under the disturbance of actual ship wake.