Design of Helicopter Cable-Orientation Control System Based on Finite-Element Modeling

摘要

The cable model is established based on the finite-element method to describe actual dynamic characteristics of cable dipping sonar system. The definition of reference cable angle is proposed and an adaptive Fuzzy-PID cable-orientation controller is designed. The controller designed in this paper combines the variable universe Fuzzy controller and PID controller together appropriately. The segment control strategy of Fuzzy control and PID control is used. The cable dynamic equations and cable-orientation controller are designed as the outer loop, while the helicopter equation and ground speed maintenance mode work as the inner loop. Through the control of helicopter's ground speed in hovering mode, cable-orientation can remain at an expected angle value under different wind speed or ocean current interference. Simulation results show that the cable-orientation controller designed in this paper has a good performance. Cable angles can track and keep the reference values accurately when helicopter is hovering over the sea, indicating that the adaptive Fuzzy-PID method for the cable-orientation control system is effective and has good robustness.