A novel modeling method of helicopter rotation inverse dynamics was proposed for overcoming deficiency in the tradition single point inversion model, and the attitude control throughout full flight envelope was implemented. In the method, the attitude velocity command was transformed into three expected key states (viz longitudinal／lateral flapping angle and tail rotor yaw moment) by means of rotational equation inverse calculation, and from the key states, the expected longitudinal／lateral cyclic pitch angle and tail rotor collective pitch angle were obtained by using main rotor flapping dynamic inverse calculation and tail rotor collective pitch angle inverse calculation. Furthermore, the helicopter attitude control system was developed based on the model. Simulation results show the proposed modelling method can reflect the helicopter inverse dynamics correctly throughout full flight envelope; the system can achieve attitude control well without compensation element and has strong robustness performance when existing kinds of disturbances.%为克服直升机单点逆模型的不足,提出了旋转逆动力学建模新方法,实现了大包线下的姿态控制.该方法采用模块化建模思想,首先通过转动方程逆解算,将姿态角速度指令转化为期望的纵、横向挥舞角和尾桨偏航力矩指令等三个关键状态量,然后利用主旋翼挥舞动态逆解算和尾桨桨距指令逆解算,由关键状态量解算出期望的纵、横向周期变距角和尾桨桨距角,进而建立了直升机旋转逆动力学模型.在此基础上,完成了姿态控制系统设计.仿真结果表明,该模型能够在大包线范围内较准确地反映直升机的旋转动态逆特性,系统能够很好地实现姿态控制目标,在各类干扰因素存在时体现出了较强的性能鲁棒性.
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