紧耦合多飞行机器人悬停配平计算分析

Equilibrium Computation of Close-coupling Multiple Helicopters in Hover Condition

针对直升机的复杂性和紧耦合多直升机协调操作的特殊性,分析了多直升机协调操作的必要性,建立多直升机间的协调力学模型,并采用牛顿迭代法进行了配平计算,所得姿态量和控制输入量为多直升机协调操纵的飞行控制系统提供了参考输入量,为进一步分析多直升机的动力学建模及稳定性打下了基础。

Helicopter is a complex system and the harmony operations of close-coupling multiple helicopters have their particularities. Through analyzing the harmony operations of close coupling multiple helicopters in hover condition, the nonlinear force model was established. Using Newton iterative method, the proposed model was computed and the perfect control inputs and poses in equilibrium hovering were attained. The results can be regarded as the reference control inputs of the flight controller system in hover condition and the base of dynamic modeling and stabilization analyzing.