以复合共轴双旋翼高速直升机为研究对象, 针对直升机模态下低速前飞时飞行姿态边界保护问题, 提出一种基于指令受限的安全保护控制方法。首先, 建立高速直升机全模态非线性数学模型; 然后,以低速前飞时的俯仰角保护为例, 运用受限参数的动态响应估计以及动态配平算法实现指令边界预测, 从而对控制输入指令进行安全优化修正。仿真结果表明: 本控制方法可以对高速直升机飞行边界进行保护, 有效提升飞行的安全性和可靠性。

Taking the coaxial double-rotor high-speed helicopter as the research object, a new safety protection and control method based on command constraints is proposed for the safe envelope protection of forward-flight attitude of the helicopter flying at low speed. Firstly, the full-modal nonlinear mathematical model of high-speed helicopter is established. Then, taking pitch-angle protection for the low-speed forward flight as an example, the boundary parameter detection is realized by the dynamic parameter estimation of the restricted parameter and the dynamic trimming algorithm, thus to modify the control input command for safety. Finally, the simulation results show that the control method can protect the flight boundary of high-speed helicopters and improve the safety and reliability of flight.