倾转三旋翼无人机倾转过程转动惯量建模

Modeling of Rotational Inertia for Tilting Three-Rotor UAV

倾转三旋翼无人机在倾转过程中,机体沿各方向轴转动惯量会随着发动机短舱角不断改变而发生变化。为了实现倾转三旋翼无人机倾转过渡模式下的精确控制,需要对其倾转过程中的转动惯量变化进行数学建模研究。通过研究倾转三旋翼无人机倾转过程中重心位置变化,运用扭摆法基本原理和实验等方法,对其不同短舱角条件下飞行器转动惯量展开分析,得到了倾转三旋翼飞行器转动惯量与短舱角的关系,为倾转三旋翼飞行器倾转过程建模奠定了理论基础。

In the tilting process of the three-rotor UAV, the rotational inertia of the body along each axis direction will change as the nacelle angle of the engine changes. In order to realize the precise control of the three-rotor UAV in the tilting transitional mode, it is necessary to study the changes of the rotational inertia during the tilting process and to build a suitable mathematical model. By analyzing the changes of the position of the gravity center of the three-rotor UAV in its tilting process, the basic principle and experimental method of the torsion pendulum are used to analyze the rotational inertia of the aircraft under the condition of different nacelle angles. The relationship between the rotational inertia and the nacelle angle is obtained, which has laid a theoretical foundation for the modeling of the rotary three-rotor UAV in the tilting process.