航空学报2026，Vol.47Issue(7)：80-100,21.DOI:10.7527/S1000-6893.2026.32745
基于鲁棒显模型跟踪的共轴高速直升机飞/发综合控制
Integrated flight/propulsion control of coaxial high-speed helicopter based on robust explicit model following control
摘要
Abstract
Multiple flight modes and high maneuverability are typical characteristics of coaxial high-speed helicopters,making conventional separated flight/propulsion control strategies insufficient to satisfy high-performance control re-quirements.Meanwhile,the pronounced dynamic coupling across the entire flight envelope,together with strong ex-ternal disturbances and time-varying flight characteristics,poses severe challenges to the robustness of control strate-gies.To address these issues,this paper proposes an integrated flight/propulsion control architecture based on Ro-bust Explicit Model Following Control(REMFC).First,based on the torque-speed relationships between the rotor and the engine,an integrated flight/propulsion simulation model is established,incorporating the coaxial helicopter,turbo-shaft engine,and transmission system.Subsequently,by reconstructing the feedforward-feedback structure of explicit model following control and introducing an Extended State Observer(ESO),a robust explicit model following control strategy is developed.The proposed method achieves online estimation and compensation of unmodeled dynamics,aerodynamic disturbances,and parameter uncertainties,and the uniform boundedness of the closed-loop tracking er-ror is theoretically guaranteed.Finally,based on the proposed REMFC strategy,an integrated flight/propulsion control law is designed to realize coordinated control and dynamic regulation of flight manipulation and engine speed.Multi-mission simulation results over the entire flight envelope demonstrate that the REMFC-based integrated control ap-proach for coaxial high-speed helicopters outperforms conventional methods in reference command tracking,distur-bance rejection,and rotor speed stabilization,significantly improving flight performance and robustness under complex flight conditions.关键词
共轴高速直升机/鲁棒控制/显模型跟踪控制/扩张状态观测器/飞/发综合控制Key words
coaxial high-speed helicopter/robust control/explicit model tracking control/extended state observer/integrated flight/propulsion control分类
航空航天引用本文复制引用
王重,任众孚,白俊强,郎金溪,李俨..基于鲁棒显模型跟踪的共轴高速直升机飞/发综合控制[J].航空学报,2026,47(7):80-100,21.基金项目
国家自然科学基金(62403385,62573353) （62403385,62573353）
中央高校基本科研业务费专项资金 （）
飞行器数字敏捷设计全国重点实验室开放基金 National Natural Science Foundation of China(62403385,62573353) （62403385,62573353）
Fundamental Research Funds for the Central Universities （）
Open Funding of National Key Laboratory of Digital and Agile Aircraft Design （）
