农用飞行器恒力矩姿态建模及仿真

Agricultural aircraft gesture modeling and simulation under constant torque

飞行器在农田环境中进行作业需要较高的系统平衡稳定性。通过构建恒力矩条件下四旋翼飞行器姿态模型的方法对系统的平衡稳定性进行预估,该模型解算出的实时姿态角数据可以在理论上进行系统稳定性参数的反演计算。本文通过对飞行器电机拉力不同方向的分解,对姿态角之间的关系进行转换,在分析恒力矩机身参数的条件下,建立起四旋翼飞行器的机体模型,并结合初值边界条件对实时三轴姿态角(α,β,γ)进行模拟计算,同时借助机械系统动力学软件Adams对姿态角进行相同条件下仿真。结果表明,所建模型的理论值和软件仿真值存在极大的相似性,验证了恒力矩姿态模型构建的正确性。

In order to make agricultural aircraft more accurately in application, obtaining real-time attitude angle data is necessary. Through the decomposition of the motor pull in different directions, the conversion of the attitude angles, the body model of the four-rotor aircraft were established based on the analysis of the fuselage parameters under the constant torque. Combing with the boundary conditions of the initial value, the real-time three-axis attitude angle （alpha, beta, gamma） was analog computed, at the same time, the simulation using the mechanical system dynamics software （Adams） was conducted as well. The results have great similarity, which verifies the correctness of the aircraft model.