Controller Design for Different Electric Tail Rotor Operating Modes in Helicopters

摘要

The nonlinear aerodynamics and new kinds of operation associated with helicopter electric tail rotors (ETRs) make accurate speed tracking control under complex flight conditions a key challenge confronting designers. In this paper, we present an electric propulsion system for tail rotors that uses a high-power-density permanent magnet motor. The management of aerodynamic disturbance rejection and accurate speed control are aspects of ETR design that require particularly close attention. To this end, we have developed a speed controller that is based on an active disturbance rejection control (ADRC) technique that can handle fixed speed and adjustable pitch-angle modes. We have also applied a linear extended state observer (LESO) with a self-tuning bandwidth to estimate fluctuations in the drive system. For variable speeds, a simple controller combined with an adaptive radial basis function (RBF) observer and nonlinear state error feedback using ADRC was designed to replace LESO while avoiding any dependence on the system parameters. The stability of the controllers was analyzed and their effectiveness was verified using a simulation platform. Test results showed that the propulsion system is able to achieve fast dynamic response and aerodynamic disturbance rejection.