| The Electrically Controlled Rotor (ECR) was a new concept helicopter rotor system which was brought forward at the beginning of the 21st century. Compared to the conventional Rotor, the ECR have many merits like simple structure, light weight, high level safety, etc. In this dissertation, research works on the control methods of the servo-flap system of the building Full-scale ECR Test Rig (FETR) are carried out, which focused on the aspects listed below:1. Firstly, the current research situations about the servo-flap system and the actuator are summarized. The design requirements of the FETR is discussed, and the existing problems and drawbacks in the former ECR testing system are analyzed.2. Then, the basic structures and characteristics of FETR are introduced. Based on these, the transfer function of every part of it is deduced, and the nonlinear factors are modelled as well. Finally, the whole mathematical model of the servo-flap control system is built up.3. Based on the control indexes of the servo-flap control system, the PID Control Scheme including current,speed and position three closed-loops is adopted, the PID parameters are tuned with the Z-N method, the Simulink simulations are conducted in half closed-loop control and whole closed-loop control respectively, the result shows that this method has steady-state error and response lag.4. In response to substantial variation of the load torque, Then the feed-forward control algorithm and Integral Separation PID control algorithm are introduced to compounding control, the result of simulations shows that this method has excellent control effect, torque-load resistant capability is effectively improved.5. Test platform and relative hardware used for conducting servo-flap control experiments are developed. Based on them, tests of half closed-loop servo-flap control are carried out. The test results verified the correctness and effectiveness of the servo-flap control methods brought forward in this dissertation. |
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