The Development Of Helicopter Model Rotor Control System

Helicopter can play an important role in military and civil application,which is inseparable from its own super mobility.And this super mobility is closely related to its good control system.The real helicopter performance and rotor control system optimization design and improvement is mostly simulated by the helicopter wind tunnel test stand.The rotor model test stand is composed of several subsystems,among which the precision of the control system is the prerequisite for the test bed to obtain accurate data,which affects the performance evaluation of the whole helicopter.The reliability of the control system is the basis for the safe operation of the test stand.Therefore,the development of a set of high precision,stable and reliable rotor control system is particularly critical.In this paper,a helicopter rotor model control system with high precision and stable reliability is developed according to the application requirements of a military unit.First of all,this paper compares several servo control modes according to the requirements of this subject,and adopts the dc electric control mode combining BECKHOFF controller based on PC and COPLEY driver.By analyzing the characteristics of the controlled object and the fact that the speed control ring of COPLEY driver can only be set by manual,the dc brushless motor(BLDCM)adopted in the system is selected as the controlled object for modeling and analysis,and the PID parameters are optimized based on the linear quadratic optimal control strategy.The BLDCM control simulation system is built by Simulink,which constitutes the simulation model of BLDCM under two different control algorithms.The simulation and verification analysis are carried out,and the reliable precision control of the helicopter model rotor control system is successfully achieved.Secondly,a model helicopter rotor control system based on the combination of PC BECKHOFF controller and COPLEY driver is designed.According to the control requirements and the overall control scheme,the key components of the system are calculated and the hardware is selected,and the software and hardware of the rotor control system are designed.According to the remote communication requirement of the information management system of helicopter test stand,EtherCAT bus protocol is adopted to realize the communication between the controller and the driver.In accordance with the international standard of IEC 61131-1,the software development of the helicopter model rotor control controller algorithm and I/O monitoring system is realized under the TwinCAT 3 software platform.The visual configuration software LabWindows/CVI is used as the development tool to complete the monitoring interface design between the upper computer and the controller.Finally,the rotor control precision and controller performance of different control axes are tested,and the field test results meet the precision requirements of helicopter model rotor control.