CN108750086B - Helicopter electric tail rotor variable-pitch variable-speed cooperative control method and device - Google Patents
Helicopter electric tail rotor variable-pitch variable-speed cooperative control method and device Download PDFInfo
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- CN108750086B CN108750086B CN201810373517.3A CN201810373517A CN108750086B CN 108750086 B CN108750086 B CN 108750086B CN 201810373517 A CN201810373517 A CN 201810373517A CN 108750086 B CN108750086 B CN 108750086B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
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Abstract
The invention discloses a variable-pitch and variable-speed cooperative control method for an electric tail rotor of a helicopter, belongs to the technical field of helicopters, and particularly relates to a control method for the electric tail rotor of the helicopter. On one hand, the electric tail rotor control method provided by the invention can ensure the rotating speed of the tail rotor, and under most working conditions, the rotating speed of the tail rotor is lower than that of the traditional mechanical transmission type tail rotor, so that the required power of a helicopter tail rotor system is reduced, and the energy consumption is saved; on the other hand, the control method considers the problems of slow speed regulation response caused by blade inertia and control margin caused by simple low-blade-speed pitch regulation, provides a cooperative variable-pitch speed change mechanism, and ensures the dynamic response performance and the sufficient control margin of the electric tail rotor.
Description
Technical Field
The invention belongs to the technical field of helicopters, and particularly relates to a control method for an electric tail rotor of a helicopter.
Technical Field
The control method of the tail rotor provided by the patent of a tail rotor driving system of the helicopter and a control method thereof (No. CN 105667786B) adopts the steps of determining the optimal rotating speed according to the flight state of the helicopter, then controlling the motor to regulate the speed, and determining the control quantity of the pitch angle through data fed back by a gyroscope of a yaw channel. The method does not consider the problems of rotor inertia and pitch angle allowance, and the dynamic performance of a yaw channel is difficult to guarantee under the condition that thrust required by a tail rotor rises sharply.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a design scheme of an electric tail rotor device of a helicopter and a variable-pitch and variable-speed cooperative control method.
The invention is realized by the following technical scheme: an electric tail rotor device of a helicopter comprises a tail rotor, a motor-reducer all-in-one machine, a power electric inverter, a controller, a power storage battery, a starting/power generator, a rectifier and a low-voltage secondary power supply; the tail rotor comprises a tail rotor wing and a pitch-changing mechanism including a steering engine, the steering engine drives the pitch-changing mechanism to adjust the pitch angle of the tail rotor wing, and the tail rotor wing is connected with the motor-reducer all-in-one machine; one side of the power electric inverter is connected with the motor-reducer all-in-one machine, the other side of the power electric inverter is connected with the power storage battery, the power electric inverter can provide the power in the power storage battery for the motor-reducer all-in-one machine, and the power generated when the motor-reducer all-in-one machine decelerates can also be stored in the power storage battery; the controller controls the current direction of the power electric inverter; the low-voltage secondary power supply provides power for the power electric inverter and the controller; the starter/generator and rectifier provide stable power to the tail rotor, which charges the power battery when the power battery is not sufficient.
A controller integrates an optimization matching module for calculating the pitch angle and the rotating speed of a tail rotor in real time, namely a variable-pitch and variable-speed cooperative mechanism, and a position closed-loop control method for a steering engine and a speed and current closed-loop control method for a motor. The controller inputs include yaw commands r delivered by the helicopter main controllerdMain rotor pitch information deltamAnd the angular rate information r fed back by the gyroscope of the helicopter yaw channel in real timebf. Determining the change of the thrust required to be generated by the tail rotor according to the input information, and combining the current rotating speed omega of the tail rotorfdFeedback value delta from steering engine cornerfdDetermining the adjustment quantity delta of the propeller speed and the pitch angle in real time by utilizing a variable-pitch variable-speed cooperative mechanismω, Δ δ, and then the desired paddle speed ωpedAnd pitch deltapedInformation is respectively transmitted to the motor rotating speed control module and the steering engine control module, the motor and the steering engine simultaneously drive the tail rotor and the variable-pitch mechanism to move, the purpose of variable-pitch variable-speed cooperative control is achieved, and the function of balancing the torque and yawing of the main rotor wing by the electric tail rotor is achieved.
The variable-pitch variable-speed cooperative mechanism is the key point for realizing the adjustment of the thrust or the pull of a yaw channel by the electric tail rotor, and the technical scheme of the invention is as follows: a helicopter electric tail rotor variable-pitch variable-speed cooperative control method is characterized in that when an electric tail rotor controller receives a yaw rate instruction r sent by a helicopter master controllerdInformation delta of distance change from main rotormAngular rate information r fed back by gyroscopebfFirst, the thrust required to calculate the tail rotor should be reduced (T) compared to the previous periodL-) or increase (TL+)；
When the thrust of the tail rotor needs to be reduced, firstly, whether the current tail rotor speed reaches the lowest allowable rotor speed omega 0 is judged, if the tail rotor speed reaches omega 0, the pitch angle (delta-) is reduced, if the rotor speed does not reach omega 0, the rotor speed (delta omega-) is reduced, at the moment, as for the blades, due to inertia, the rotor speed can not be reduced to the target value quickly, and the pitch angle needs to be adjusted to assist in changing the thrust T of the tail rotorLAccording to angular rate information r fed back by the gyroscopebfDetermining a pitch angle value (delta-) that needs to be reduced;
when the thrust of the tail rotor needs to be increased, firstly, u is equal to u (r) according to the control inputd、δm、rbf) Calculating the degree of thrust increase (Δ T) in the previous control periodL(k)＝TL(k)-TL(k-1)), aiming at the parameters of the tail rotor and the actual working condition of the helicopter, three region ranges of the thrust increment of the tail rotor are divided in advance: small incremental area fL(Δu，ε1) Middle incremental area fM(Δu，ε2) Region of large increase fH(Δu，ε3) And a pitch angle change region: low (delta)0,δ1) Middle (delta)1,δ2) High (delta)2,δ3) Three regions, determining the required thrust increment DeltaTL+ belong to aboveWhich region, and simultaneously feeding back the signal delta according to the position of the steering enginefdJudging which region the pitch angle is in, and then deciding respective increasing sequences of the pitch angle delta and the rotating speed delta omega according to the following conditions, wherein the increasing degree is realized by modifying the action factors of respective action functions;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a low area, directly changing the pitch angle;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a middle area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a high area, firstly changing the rotating speed and secondly changing the pitch angle;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a low area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a middle area, changing the pitch angle or the rotating speed;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a high area, firstly changing the rotating speed and secondly changing the pitch angle;
when the thrust increment of the tail rotor is a large increment area and the pitch angle is changed into a low area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a large increment region and the pitch angle is changed into a middle region, changing the pitch angle or the rotating speed;
when the thrust increment of the tail rotor is in a large increment area and the pitch angle is changed to a high area, firstly the rotating speed is changed, and secondly the pitch angle is changed.
Compared with the prior art, the invention has the following advantages:
on one hand, the electric tail rotor control method provided by the invention can ensure the rotating speed of the tail rotor, and under most working conditions, the rotating speed of the tail rotor is lower than that of the traditional mechanical transmission type tail rotor, so that the required power of a helicopter tail rotor system is reduced, and the energy consumption is saved; on the other hand, the control method considers the problems of slow speed regulation response caused by blade inertia and control margin caused by simple low-blade-speed pitch regulation, provides a cooperative variable-pitch speed change mechanism, and ensures the dynamic response performance and the sufficient control margin of the electric tail rotor.
Drawings
FIG. 1 is a schematic diagram of an electric tail rotor and power supply scheme of a helicopter;
FIG. 2 is a schematic diagram of an electric tail rotor power supply system and a control structure;
FIG. 3 is a schematic diagram of a variable-pitch and variable-speed cooperative control mechanism;
FIG. 4 is a schematic diagram of a variable-pitch and variable-speed cooperative control mechanism for increasing the thrust of a tail rotor.
In the figure: 1. the system comprises a tail rotor, 2, a high-power-density motor (speed reducer), 3, a power electric inverter, 4, a controller, 5, a secondary power source, 6, a power storage battery, 7, a starting/power generator and rectifier, 8, a yaw channel angular rate signal, 9, a yaw command signal, 10, a main rotor wing pitch-changing signal, 11, a pitch-changing and speed-changing cooperative algorithm module and 12, an electric tail rotor control algorithm module.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
An electric tail rotor device of a helicopter comprises a tail rotor, a motor-reducer all-in-one machine, a power electric inverter, a controller, a power storage battery, a starting/power generator, a rectifier, a low-voltage secondary power supply and the like.
As shown in fig. 1, a schematic diagram of an electric tail rotor and a power supply scheme of a helicopter is provided, which includes: tail rotor 1, high power density motor (reducer) 2, power electric inverter 3, controller 4, secondary power source 5, power accumulator 6, starter/generator and rectifier 7. The main connection mode of each part is as follows: the tail rotor with the variable pitch mechanism is connected with a motor, and the motor provides power for the tail rotor to realize speed regulation; the power electric inverter is electrically connected with the motor and the steering engine to provide respective driving voltage, the bus voltage of the inverter is input through the generator through the rectifier, the rectifier outputs direct current voltage, the redundant electric energy is stored in the power storage battery through a direct current-direct current (DC-DC) converter, and when the bus voltage is insufficient, the storage battery can feed back the electric energy to a bus circuit; the controller synthesizes the current, voltage parameter, steering engine position information, speed and current information control of the motor, helicopter master control command, yaw channel gyroscope data and other information of the inverter, controls the inverter to generate required driving voltage for the motor and the steering engine, and the controller and the control circuit of the inverter are powered by the helicopter low-voltage secondary power supply.
As shown in fig. 2, an electric tail rotor power supply system and a control structure are provided, which includes a yaw channel angular rate signal 8, a yaw command signal 9, a main rotor pitch signal 10, a pitch and speed variable cooperative algorithm module 11, and an electric tail rotor control algorithm module 12. The main connection mode of each part is as follows: angular rate information r fed back by gyroscopebfMain rotor pitch information deltamYawing command signal r of helicopter master controldThe variable-pitch variable-speed cooperative algorithm module is used as the input of the variable-pitch variable-speed cooperative algorithm module, and the variable-pitch variable-speed cooperative algorithm module calculates the propeller speed omega required by the tail propellerpedAnd pitch deltapedAnd the current state of the motor and the steering engine is combined, the current state is fed back to the electric tail rotor control algorithm module to obtain the actual rotating speed and pitch angle variable quantity of the tail rotor motor and the steering engine, the obtained rotating speed of the motor is input into the motor, and the obtained pitch angle variable quantity is input into the steering engine, so that the variable-pitch variable-speed cooperative control is realized.
As shown in fig. 3 and 4, u (r) is first set according to the control inputd、δm、rbf) Calculating to obtain the thrust T of the tail rotorLShould be reduced (T) compared to the previous periodL-) or increase (TL+). If the thrust of the tail rotor needs to be reduced compared with the last period, whether the speed of the tail rotor reaches the lowest available propeller speed omega 0 is judged, if the propeller speed reaches omega 0, the pitch angle (delta-) is reduced, and if the propeller speed does not reach omega 0, the propeller speed (delta omega-) is reduced first. If the thrust of the tail rotor needs to be increased compared with the last period, estimating the thrust increase degree (delta T) of the last control periodL(k)＝TL(k)-TL(k-1)), aiming at the parameters of the tail rotor and the actual working condition of the helicopter, three region ranges of the thrust variation of the tail rotor are divided in advance: small incremental area fL(Δu，ε1) Middle incremental area fM(Δu，ε2) Region of large increase fH(Δu，ε3) And a pitch angle change region: low (delta)0,δ1) Middle (delta)1,δ2) High (delta)2,δ3) To obtain thrust increment Delta TL+ and steering engine position feedback signal deltafdBelongs to the state table state (delta, f) of FIG. 4x(Δu，εi) In the region of the pitch angle, the degree of increase in the thrust increment and the pitch angle increment is adjusted in conjunction with the contribution factor of the respective contribution function.
Claims (2)
1. A helicopter electric tail rotor variable-pitch variable-speed cooperative control method comprises the steps that when an electric tail rotor controller receives a yaw rate instruction, main rotor variable-pitch information and angular rate information fed back by a gyroscope, which are sent by a helicopter main controller, firstly, the thrust required by a tail rotor is calculated to be reduced or increased compared with the last period;
when the thrust of the tail rotor needs to be reduced, firstly, judging whether the current tail rotor speed reaches the lowest allowable rotor speed or not, if the tail rotor speed reaches, reducing the pitch angle, if the rotor speed does not reach, firstly, reducing the rotor speed, at the moment, the rotor speed can not be quickly reduced to a target value due to inertia of the blades, needing to adjust the pitch angle to assist in changing the thrust of the tail rotor, and determining the pitch angle value needing to be reduced according to the angular rate information fed back by the gyroscope;
when the thrust of the tail rotor needs to be increased, firstly, the thrust increase degree of the last control period is calculated according to control input, and three area ranges of the thrust increment of the tail rotor are divided in advance according to tail rotor parameters and the actual working condition of the helicopter: small increment region, medium increment region, large increment region, and pitch angle change region: judging which area the required thrust increment belongs to, simultaneously judging which area the pitch angle is in according to a steering engine position feedback signal, deciding respective increasing sequence of the pitch angle and the rotating speed according to the following conditions, and realizing the increasing degree by modifying the action factors of respective action functions;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a low area, directly changing the pitch angle;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a middle area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a small increment area and the pitch angle is changed into a high area, firstly changing the rotating speed and secondly changing the pitch angle;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a low area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a middle area, changing the pitch angle or the rotating speed;
when the thrust increment of the tail rotor is a middle increment area and the pitch angle is changed into a high area, firstly changing the rotating speed and secondly changing the pitch angle;
when the thrust increment of the tail rotor is a large increment area and the pitch angle is changed into a low area, firstly changing the pitch angle and secondly changing the rotating speed;
when the thrust increment of the tail rotor is a large increment region and the pitch angle is changed into a middle region, changing the pitch angle or the rotating speed;
when the thrust increment of the tail rotor is in a large increment area and the pitch angle is changed to a high area, firstly the rotating speed is changed, and secondly the pitch angle is changed.
2. An electric tail rotor device of a helicopter, which applies the method of claim 1, and comprises a tail rotor, a motor-reducer integrated machine, a power electric inverter, a controller, a power storage battery, a starter/generator and a rectifier, and a low-voltage secondary power supply; the tail rotor comprises a tail rotor wing and a pitch-changing mechanism including a steering engine, the steering engine drives the pitch-changing mechanism to adjust the pitch angle of the tail rotor wing, and the tail rotor wing is connected with the motor-reducer all-in-one machine; one side of the power electric inverter is connected with the motor-reducer all-in-one machine, the other side of the power electric inverter is connected with the power storage battery, the power electric inverter can provide the power in the power storage battery for the motor-reducer all-in-one machine, and the power generated when the motor-reducer all-in-one machine decelerates can also be stored in the power storage battery; the controller controls the current direction of the power electric inverter; the low-voltage secondary power supply provides power for the power electric inverter and the controller; the starter/generator and rectifier provide stable power to the tail rotor, which charges the power battery when the power battery is not sufficient.
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| CN201810373517.3A CN108750086B (en) | 2018-04-24 | 2018-04-24 | Helicopter electric tail rotor variable-pitch variable-speed cooperative control method and device |
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| CN112298537B (en) * | 2020-09-23 | 2022-10-11 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
| CN114212274A (en) * | 2021-11-30 | 2022-03-22 | 电子科技大学 | Helicopter multi-power-source driving system experiment platform |
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