Hybrid control of helicopter main rotor concordant load system

The hybrid control method is proposed to the helicopter rotor concordant load system. Based on establishing the mathematical model of concordant load system, a new extraneous force decoupling control method is proposed. In our approach, the load actuator piston position is used as input signal of decoupling controller. Meanwhile, a new nonlinear self-tuning PID controller is also proposed, which can automatically adjust the gain parameters of PID controller according to tracking error. Finally, the hybrid controller is constructed by incorporating the nonlinear PID controller with the decoupling controller. The main rotor aerodynamic load simulation experiment results demonstrate that the proposed hybrid controller achieves higher control performance, and the rotor aerodynamic load relative tracking error is less than 3%.