基于ZG方法的悬挂负载直升机零振荡匀速控制

摘要

In this paper, in order to realize the control of constant speed and zero vibration of sling-load helicopter, a controller using ZG (Zhang-gradient) method is proposed based on the ZD (Zhang dynamics) and GD (gradient dy-namics) methods. With the ZG method being utilized to handle the mathematical model and the parameter variability being introduced, a z2g2 controller is designed, and then the formulas of the controller are obtained with the auxiliary control formula. In addition, numerical experiments are carried out on MATLAB. The numerical experimental results substantiate the efficacy and accuracy of the z2g2 controller, and then validate the efficacy and feasibility of ZG method; besides, subsequent control algorithm and software development will be the future research directions.%为了实现悬挂负载直升机的零振荡匀速控制，本文结合Zhang动力学（Zhang dynamics，ZD）和梯度动力学（gradient dynamics，GD），提出了基于ZG（Zhang-gradient）方法的悬挂负载直升机零振荡匀速控制。通过使用ZG 方法对数学模型进行处理，并且创新性地引入了参数的可变性，设计了一个 z2g2控制器，得到辅助控制公式后，结合得到了控制器公式组。此外，本文还展示了在MATLAB平台上的计算机仿真与数值实验测试结果，其验证了该z2g2控制器的有效性和精确性，进而证实了 ZG 方法的可行性与有效性；并且，后续控制算法和软件开发也是未来的研究方向。