\r胡春明^{1, 2}，魏石峰²，刘 娜¹，宋玺娟¹，米 雪\r²\r
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AuthorsHTML:\r胡春明^{1, 2}，魏石峰²，刘 娜¹，宋玺娟¹，米 雪\r²\r
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AuthorsListE:\rHu Chunming^{1, 2}，Wei Shifeng²，Liu Na¹，Song Xijuan¹，Mi Xue\r²\r
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AuthorsHTMLE:\rHu Chunming^{1, 2}，Wei Shifeng²，Liu Na¹，Song Xijuan¹，Mi Xue\r²\r
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Unit:\r\r1. 天津大学内燃机研究所，天津 300072；\r
\r\r2. 天津大学机械工程学院，天津 300350\r
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Unit_EngLish:\r1. Tianjin Internal Combustion Engine Research Institute，Tianjin University，Tianjin 300072，China；
2. School of Mechanical Engineering，Tianjin University，Tianjin 300350，China\r
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Abstract_Chinese:\r\r针对无人直升机发动机恒转速控制问题，提出了一种油门\r/\r点火提前角双变量协同调节的恒转速滑模控制策略．发动机输出扭矩控制是恒转速控制问题关键的一环，而油门开度和点火提前角作为调节发动机输出扭矩的两个变量具有不同的特点．油门调节虽然调节范围宽，但是响应较慢，易受时滞效应的影响而产生超调现象；点火提前角响应较快，但是调节范围有限．将二者的优点结合起来实现协同控制，可以进一步加强恒转速控制效果．为实现此目的，对发动机进行了数学建模，并基于该模型和滑模控制设计了协同控制策略．该策略包括点火提前角优先调节的主逻辑和点火提前角回归逻辑．最终通过仿真和试验验证了控制策略的效果．仿真结果显示：负载突变时，双变量协同滑模控制器相较于传统\rPID\r控制器，转速误差减小\r61\r%\r；同样基于滑模控制，双变量协同控制相较于双变量分离控制，转速误差减小\r21.4\r%\r；存在负载扭矩干扰或进气压力波动时，双变量协同滑模控制的转速稳定性也优于其他两种控制方式；整机系留试验中，双变量协同滑模控制的转速波动范围比双变量分离滑模控制小\r24\r%\r，比传统\rPID\r控制小\r62\r%\r．经过多次系留试验观测，使用双变量协同滑模控制，可使转速波动范围在±\r70r/min\r以内，控制误差在\r2\r%\r以内，能够满足无人直升机飞行稳定性的要求．\r\r
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Abstract_English:\r\rThe constant speed control of unmanned helicopter engines is important\r．\rTo address this issue\r，\ra bivariate coordinated sliding mode constant speed controller is proposed\r．\rIn this study\r，\rbivariate refers to throttle opening and ignition advance angle\r．\rNotably\r，\rthrottle opening and ignition advance angle\r，\ras two important variables for adjusting engine torque\r，\rhave different characteristics\r．\rThrottle opening has a wide adjustment range but a slow responsiveness\r，\rwhich makes it susceptible to overshoot by the effects of time delay\r．\rBy contrast\r，\rignition advance angle has a narrow adjustment range but a fast responsiveness\r．\rIf the advantages of these two variables are combined\r，\rthen the constant speed control effect could be further enhanced\r．\rFor this purpose\r，\rthe engine was mathematically modeled\r．\rOn the basis of the model of sliding mode control\r，\ra bivariate coordinated control strategy was designed\r．\rThe strategy includes a master logic\r，\rspark advance angle priority adjustment based on sliding mode\r，\rand spark advance angle regression logic\r．\rFinally\r，\rthe effect of the control strategy was verified by simulation and experiment\r．\rThe simulation results showed that\r，\rwhen the load changes abruptly\r，\rthe bivariate coordinated sliding mode controller reduces the speed error by 61\r%\r compared with the traditional PID controller\r．\rFurthermore\r，\ron the basis of sliding mode control\r，\rthe bivariate coordinated controller reduces the speed error by 21.4\r%\r compared with the bivariate separated controller\r．\rMoreover\r，\rwhen the load and intake disturbance is simulated\r，\rthe proposed controller has better anti-interference capability than the two other controllers\r．\rFinally\r，\rthe results of the helicopter mooring experiment showed that the speed fluctuation range of the bivariate coordinated sliding mode controller is 24\r%\r smaller than that of the bivariate separated sliding mode controller and 62\r%\r smaller than that of the traditional PID controller\r．\rThe results of multiple experiments showed that the speed fluctuation range is within \r±\r70r/min using the bivariate coordinated sliding mode controller\r．\rThe error is within 2\r%\r，\rwhich satisfies the flight stability requirements for unmanned helicopters\r．\r\r
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Keyword_Chinese:双变量协同调节；滑模控制；发动机数学模型；恒转速控制；无人直升机\r

Keywords_English:bivariate coordinated regulation；sliding mode control；mathematical model of engine；constant speed control；unmanned helicopter\r


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