中文摘要：

为了研制海上搜救模拟器的直升机模拟系统，给出了直升机模拟的系统结构，建立了直升机的悬停数学模型。用镜像映射方法和闭环增益成形算法设计了直升机的悬停鲁棒控制器。用Simulink进行了仿真实验，当直升机处于悬停状态时，系统的输出为输入的18％且抖动频率明显降低，当系统加了0．5s纯滞后模型摄动后，系统的输出为输入的32％且抖动频率明显降低。仿真结果显示系统具有较强的稳定性和鲁棒性。

英文摘要：

A system configuration of helicopter simulation is given and a mathematical model of helicopter hovering is set up as to development helicopter simulating system in marine search and rescue simulator. Robust hovering controller of helicopter is designed based on mirror-mapping method and closed-loop gain shaping algorithm. The result of simulating experiment with Simulink indicates that when helicopter is hovering, the output is 18% of the input and there is a substantial reduction in vibrating frequency; And when a model perturbation of 0.5 s pure time delay is added, the output is 32% of the input and the vibrating frequency is obviously reduced. It proves that the system has the good stability and robustness.