2023_“ShuWei Cup”
Problem A：Modeling and Optimization Control Issues of
Compound Helicopter
A. Problem Background
Helicopters possess flight capabilities such as vertical takeoff and
landing, making them widely applicable in fields such as reconnaissance
and transportation. The configuration of traditional helicopters causes the
rotor blades to be affected by shock waves during high-speed flight,
making stable flight difficult. In order to retain the flexible flying
capability of helicopters while developing their high-speed flight
capability, the design of compound helicopters, which combine fixed
wings with rotors, has become an essential direction for development.
Coaxial helicopters are a typical type of compound helicopter. This
configuration mainly consists of four power components: coaxial rigid
rotors, propeller thrusters, and horizontal and vertical tails. The centers of
the propeller thrusters and horizontal and vertical tails are all located on
the flying machine fuselage's symmetry plane. The flying machine's
attitude angles refer to the roll angle ϕ, pitch angle θ, and yaw angle ψ
during flight, and the corresponding moments are known as roll moment,
pitch moment, and yaw moment (as shown in Figure 1). The influences of
the four power components on the flying machine's attitude angles are as
follows: 1) The aerodynamic moment generated by the coaxial rigid
