摘要
对固定翼与四旋翼结合的复合飞行器进行了动力学分析,依据坐标转换关系,得到复合飞行器的非线性动力学模型.在悬停状态或者垂直起飞状态下,分别以旋翼升力和转矩作为控制输入量时,对所对应的系统传递函数进行了分析.最后使用PID控制器对模型的响应特征进行了仿真对比验证,得出以转矩为控制输入量时系统传递函数不存在耦合项,提高了模型的适应性和稳定性.
Firstly, the dynamic analysis on composite aircraft with fixed and four-rotating wings is conducted.According to the coordinate transformation, a nonlinear dynamical model of composite aircraft is then established.For hovering and vertical taking-off, respectively to the rotor lifting and torque control inputting, the system transfer function is next analyzed.Subsequently, the response characteristics based on PID controller are simulated, compared and verified.Consequently, the model adaptability and stability of the model is improved without coupling elements of system transfer function by treating torque as control input.
出处
《中国工程机械学报》
北大核心
2016年第5期-,共6页
Chinese Journal of Construction Machinery
基金
东北石油大学培育基金资助项目(nepupy-1-27)
