摘要
针对无人直升机垂直自动起飞控制技术研究背景,为描述整个起飞过程的机理,对直升机起飞阶段进行非线性动力学建模。从飞行器的力和力矩角度对直升机进行建模,该模型包括地面阶段数学模型和离地阶段数学模型。地面阶段数学模型除气动力外还包括地面对无人直升机的反作用力;离地阶段数学模型将考虑近地约束和地面效应对无人直升机起飞过程的影响。以某型无人直升机为例进行了计算和仿真,结果表明按该非线性模型能反映无人直升机起飞状态并为无人直升机的自动起飞控制技术的研究提供了可信的数学模型。
To the background of control request that the unmanned helicopter automatic take-off vertically,description the whole process mechanism for takeoff,we carries on the nonlinear dynamics modeling to the helicopter automatic take-off.Carry on the modelling from the flight vehicle force and moment angle to the helicopter.,this model includs outside-ground stage mathematical model and ground stage mathematical model.The ground stage mathematical model includs aerodynamics and the counterforce from the ground.The outside-ground stage mathematical model consides the restriction of the near ground and the influence of the ground effect during the whole takeoff.Taking some unmanned helicopter as the example processing the computation and simulation,the result indicated this nonlinear model can reflect unmanned helicopter takeoff condition and provide the credible mathematical model for the automatically takeoff control technology research.
出处
《直升机技术》
2006年第1期11-16,共6页
Helicopter Technique
关键词
无人直升机
地面效应
非线性建模
起飞
仿真
unmanned helicopter
ground effect
nonlinear modeling
takeoff
simulation
