摘要
根据项目指标要求,提出了一种用六丝悬吊的方法控制形状复杂或不规则目标飞行物姿态的方案,建立了数学模型,研究了模型的正解和反解。着重讨论了用反解迭代逼近绳长的算法来求正解的过程。用Matlab对此算法进行编程,并通过一个算例实现了快速求出飞行物位姿唯一正解的思路。仿真计算结果验证了悬丝机构控制目标飞行物方案的可行性。
We propose a six-wire suspension method to control the attitude of a flyer of complicated or irregular shape and set up its mathematical model. Then we study the reverse and forward displacements of the model, with the latter discussed in detail, namely the algorithm for approximating the length of wire with reverse iteration. We also develop programs for the algorithm in Matlab and present a numerical instance to demonstrate how to resolve quickly the only forward displacement of a flyer. Calculation results verify the feasibility of the wire suspension method.
出处
《机械科学与技术》
CSCD
北大核心
2007年第6期754-757,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
悬丝机构
飞行物
位姿反解
位姿正解
wire mechanism
flyer
reverse displacement
forward displacement
