动力翼伞非线性动力学建模与仿真  

Nonlinear Dynamics Model and Simulation of a Powered Paraglider

作　　者：钱克昌[1] 陈自力[1] 

机构地区：[1]军械工程学院光学与电子工程系,河北石家庄050003

出　　处：《计算机仿真》2011年第12期9-13,共5页Computer Simulation

基　　金：军队十一五装备预研基金(9140A25010208JB3401)

摘　　要：关于空运翼伞控制问题建立合理的动力学模型,是实现动力翼伞飞行控制的前提条件之一。传统方法翼伞建模多数是针对不带动力情况下的翼伞建模,不能适应动力翼伞的飞行控制。假设翼伞承载物和软翼之间具有俯仰和偏航2个自由度,通过对承载物和软翼所受作用力和作用力矩进行分析,分别建立软翼和承载物体坐标系下的作用力和力矩的平衡方程,通过体坐标系转换和消除翼伞内部状态量,得到有利于实现动力翼伞控制的8自由度非线性动力学状态方程。仿真结果表明这种动力学模型正确有效,更有助于实现动力翼伞的飞行控制。Building a appropriate dynamics model is very important in controlling a powered paraglider.A number of methods for modeling a unpowered paraglider have been proposed so far,which are inapplicable to a powered paraglider.Under the assumption that the payload has 2-DOF,state equations of forces and moments under canopy and payload coordinate system were built respectively,and a 8-DOF nonlinear state equation of the powered paraglider was gained through transformation of coordinate systems and elimination of state variables.The validity of model was proved by simulation results.

关 键 词：动力伞 非线性系统 自由度 动力学模型 状态方程 

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]