小型无人直升机建模与分析  

Modeling of a Small Scale Unmanned Helicopter

作　　者：杜建福[1] 吕恬生 Konstantin Kondak 张亚欧[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]Faculty of Electrical Engineering and Computer Science,Technische Universitt Berlin

出　　处：《上海交通大学学报》2008年第10期1726-1730,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(60475039)

摘　　要：由于小型无人直升机具有不同于大型直升机的独特特点,提出采用结构分析法推导小型无人直升机的数学模型.将小型直升机看作2个刚体(机体和主旋翼),借助Kane方法推导了小型直升机的动力学模型,并与单刚体建模进行了比较.分析表明,2种建模方法的运动学方程和平移动力学方程相同,但旋转动力学模型完全不同.采用2种刚体所建模型的响应具有余弦规律而单刚体所建模型则呈线性规律.飞行试验验证了模型的有效性.Based on the analysis of the difference between small scale unmanned helicopters and normal scale helicopters, the small scale helicopter was modeled as two rigid bodies, fuselage and main tail rotor. The dynamical model was deduced by Kane method, and another model considering the helicopter as one rigid body was also deduced for comparison. It shows that the kinematics and translational dynamics are the same, but they have different rotational dynamics. The response of the dynamics modeled as two rigid body is cosine while the response of the dynamics modeled as one rigid body is linear. The real flight experiments verify the validity of the model.

关 键 词：无人直升机 动力学建模 KANE方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V278[自动化与计算机技术—控制科学与工程]