Dynamics Analysis of Close-coupling Multiple Helicopters System  

紧耦合多直升机的动力学建模分析(英文)

作　　者：赵志刚[1] 吕恬生 

机构地区：[1]上海交通大学机械工程学院

出　　处：《Chinese Journal of Aeronautics》2008年第1期71-78,共8页中国航空学报（英文版）

基　　金：National Natural Science Foundation of China(60475039)

摘　　要：The particularity and practicality of harmony operations of close-coupling multiple helicopters indicate that the researches on it are urgent and necessary, Using the model that describes two hovering helicopters carrying one heavy load, an inertia coordinate system and body coordinate systems of each sub-system are established. A nonlinear force model is established too. The equilibrium computation results can be regarded as the reference control inputs of the flight control system under hovering or low-speed flight condition. After the establishment of a translation kinematics model and a posture kinematics model, a coupling dynamics model of the multiple helicopter system is set up. The results can also be regarded as the base to analyze stabilization and design a controller for a close-coupling multiple helicopters harmony operation system.The particularity and practicality of harmony operations of close-coupling multiple helicopters indicate that the researches on it are urgent and necessary, Using the model that describes two hovering helicopters carrying one heavy load, an inertia coordinate system and body coordinate systems of each sub-system are established. A nonlinear force model is established too. The equilibrium computation results can be regarded as the reference control inputs of the flight control system under hovering or low-speed flight condition. After the establishment of a translation kinematics model and a posture kinematics model, a coupling dynamics model of the multiple helicopter system is set up. The results can also be regarded as the base to analyze stabilization and design a controller for a close-coupling multiple helicopters harmony operation system.

关 键 词：close-coupling multiple helicopters harmony operation equilibrium computation kinematics analysis dynamics analysis 

分 类 号：V211.4[航空宇航科学与技术—航空宇航推进理论与工程]