摘要
针对目前微小型多旋翼飞行器的控制缺点,对微小型多旋翼飞行器进行系统的非线性建模研究。采用叶素理论对螺旋桨桨叶进行建模,对其前行中的周期挥舞问题进行分析,进而修正旋翼的负载特性;研究刚性机身、桨毂、叶片、电机转轴等的动力学特性,建立了更为完善的微小型多旋翼飞行器非线性动力学模型。选取四旋翼飞行器作为仿真对象,在Matlab/Simulink环境下,搭建开环仿真框图进行仿真验证。仿真结果验证了该模型的准确性。
Focuses on control disadvantages of microminiature multi-rotor aircraft, establish the nonlinear modeling of aircraft. First, blade element theory is applied to rotor blades modeling, based on which the periodic flapping problem is also analyzed. Meanwhile, modify the load feature of rotor. Then the model of small multi-rotor aircraft is rebuilt according to the dynamic characteristics of rigid airframe, hub, blade and armature. Finally, Matlab/Simulink simulation and ground stand testing are carried out to verify the control performance. Simulation results show that the model is reasonable and feasible and meet the expected control requirements.
出处
《兵工自动化》
2012年第6期14-17,共4页
Ordnance Industry Automation
关键词
叶素理论
动量理论
挥舞现象
非线性建模
blade element theory
momentum theory
flapping
nonlinear modeling
