基于ZG方法的悬挂负载直升机零振荡悬停控制

能够空投并高效地完成起降、装卸货物,是悬挂负载直升机重要的优点。欲使直升机成功并安全地实现货物装卸,需要直升机成功到达目的地,而且悬挂负载直升机飞行时悬挂物不发生振荡。为了实现悬挂负载直升机的零振荡悬停控制,基于ZG方法,在悬挂负载直升机简化数学模型基础上研究零振荡悬停控制问题。首先通过使用ZG方法对数学模型进行处理,得到相应的控制公式。然后创新性地引入参数的可变性,得到了辅助控制公式,并结合得到了控制器公式组。最后在MATLAB平台上进行计算机仿真,仿真结果验证了该控制器的有效性和精确性,进而证实了ZG方法对于实现悬挂负载直升机零振荡悬停控制的可行性和有效性。

Zero Vibration and Spot Hover Control of Helicopter Sling Load System Using ZG Method

Being capable of air-drop and efficiently completing the take-off and landing,loading and unloa-ding of cargos are the important advantages of a sling-load helicopter.To successfully and safely fulfill the cargo handling,the helicopter needs to reach the destination successfully,and suspend the load oscillation when flying.To achieve the zero vibration and spot hover control of sling-load helicopter,based on the ZG method,the zero-vibration and spot-hover-control problem is investigated on the simplified mathematical model of the helicopter.Firstly,the ZG method is used to deal with the mathematical model and then obtain the corresponding control formula.Secondly,the parameter variability is innovatively introduced to obtain the auxiliary control formula and then get the controller formula group.Finally,the computer simulations are performed on the MATLAB platform,and the simulation results substantiate the feasibility and effec-tiveness of the ZG method for achieving the zero vibration and spot hover control.