Fuzzy anti-swing controller for improving handling quality of helicopter slung-load operation
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摘要:
针对有人直升机吊挂飞行面临的吊挂减摆效果和指令跟踪性能冲突导致飞行品质低的问题，提出一种融合飞行员意图的模糊减摆控制方法。构建高置信度非线性人-机-吊挂闭环系统模型，分析基于飞控系统减摆面临的吊挂减摆效果和指令跟踪性能相互冲突问题，建立飞行员意图模糊推理系统并与吊索摆角反馈控制律融合。仿真结果表明：所提方法能够合理反映飞行员意图，将其与减摆控制器融合能够以符合飞行员意图的方式动态调整指令跟踪性能和吊挂减摆效果，避免了飞行员与减摆控制器的相互冲突引起飞行员诱发振荡，且鲁棒性较好。
Abstract:In order to solve the problem of compromised flight quality in helicopter sling load operations—which arises from the trade-off between load stabilization and command responsiveness—this paper presented a unique fuzzy control solution that incorporates pilot intention. By developing a high-fidelity nonlinear model of the pilot-helicopter-slung-load system, this method tackles the inherent conflict between reducing load swing and maintaining precise control that is common in current anti-swing controllers. The proposed method can reasonably reflect the pilot’s intent, and a cable angle feedback control law has been demonstrated through simulation to dynamically adjust control parameters in line with pilot expectations. With good resilience, this integration reduces pilot-induced oscillations and conflicts between pilot actions and the control system.
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Key words:
- helicopter /
- helicopter slung-load /
- fuzzy logic /
- pilot intention /
- cable angle feedback /
- pilot induced oscillation
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图 1 人-机-吊挂耦合闭环系统模型
Figure 1. Pilot-helicopter-slung-load coupled closed-loop system model
图 3 UH-60A+CONEX横向通道频响特性
Figure 3. Frequency response of UH-60A carrying CONEX container
图 5 融合飞行员意图的模糊减摆控制器
Figure 5. Fuzzy anti-swing controller that incorporates pilot intention
图 6 稳定性指标（横航向振荡要求）
Figure 6. Stability criterion (lateral-directional oscillatory requirements)
图 7 指令跟踪指标（小幅滚转姿态变化要求）
Figure 7. Controllability criterion (small-amplitude roll attitude change requirements)
图 10 方波输入下的响应和模糊输入/输出
Figure 10. Response and fuzzy input/output time history under square wave input
图 11 横侧定位科目响应和操纵时间历程
Figure 11. Response and control histories of lateral reposition task
图 13 摆角测量延迟对仿真的影响
Figure 13. Effects of swing angle measurement delay on simulation results
表 1 横向通道结构化飞行员模型参数
Table 1. Parameter for horizontal channel structured pilot model
名称 取值 外环补偿传递函数$ {Y}_{\rm{P}} $ $ -0.1s+0.02 $ 内环补偿传递函数$ {Y}_{\rm{E}} $ $ 20 $ 中枢延迟传递函数$ {\tau }_{0} $ 0.2 直升机力感系统传递函数$ {Y}_{\rm{FS}} $ $ \dfrac{{25}^{2}}{{s}^{2}+2 \times 0.707 \times 25 s+{25}^{2}} $ 神经肌肉系统传递函数$ {Y}_{\rm{NM}} $ $ \dfrac{{10}^{2}}{{s}^{2}+2 \times 0.707 \times 10 s+{10}^{2}} $ 本体感受系统传递函数$ {Y}_{\rm{PF}} $ $ \dfrac{2}{0.2s+1} $ 前庭系统传递函数$ {Y}_{\rm{VF}} $ $ 1.8 $ 
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表 2 飞行员意图模糊规则
Table 2. Fuzzy rule of pilot intention
时均操纵 瞬时操纵 摆动角速度增益分类 VS S M L VL S S STB STB STB STB STB M CMD CMD BLC BLC STB L CMD CMD CMD CMD STB M S STB STB STB STB STB M CMD CMD BLC STB STB L CMD CMD CMD BLC STB L S STB STB STB STB STB M CMD BLC BLC STB STB L CMD CMD BLC BLC STB
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