| 单旋翼涵道风扇式无人直升机的钟摆现象与控制 |
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| 引用本文： | 蒋金哲.单旋翼涵道风扇式无人直升机的钟摆现象与控制[J].兵工自动化,2007,26(5):62-63,72. |
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| 作者姓名： | 蒋金哲 |
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| 作者单位： | 南京航空航天大学,自动化学院,江苏,南京,210016 |
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| 摘 要： | 单旋翼涵道风扇式无人直升机,采用轴对称的基本布局.其机体绕旋翼桨毂的钟摆现象为对称变悬点二维摆,且具有非线性、强耦合、高阶次、不稳定等特性.对于此钟摆现象,采用拉格朗日方程建立其多自由度模型、并在平衡态进行解耦和线性化.然后,设计线性二次最优控制器,使机体的摆动能在任何干扰下都稳定在平衡态.
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| 关 键 词： | 单旋翼涵道风扇式无人直升机 变悬点二维摆 拉格朗日方程 线性二次最优控 单旋 涵道风扇 无人直升机 钟摆现象 最优控制器 Helicopter Rotor Single Pendulum Control 不稳定 干扰 动能 解耦和线性化 设计 平衡态 多自由度模型 方程建立 拉格朗日 特性 |
| 文章编号： | 1006-1576（2007）05-0062-02 |
| 收稿时间： | 2007-04-01 |
| 修稿时间： | 2007-04-012007-04-16 |
Phenomenon and Control of Pendulum in Single Rotor Helicopter with Ducted Fan |
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| JIANG Jin-zhe.Phenomenon and Control of Pendulum in Single Rotor Helicopter with Ducted Fan[J].Ordnance Industry Automation,2007,26(5):62-63,72. |
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| Authors: | JIANG Jin-zhe |
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| Abstract: | The single rotor autonomous helicopter with ducted fan adopts the axial symmetrical layout.Thus,the phenomenon of this autonomous helicopter whose fuselage circles the rotor hub to swing,is one kind of symmetrical two-dimensional pendulum with variable suspension point,and characterized as a non-linear,strong-coupling,high order,unstable system.Establish the several degrees-of-freedom model of this pendulum by using the Lagrange equations,and the model is linearized at the balance state.Then,linear quadratic optimal regulator(LQR) is designed for this model to make balancing and positioning control goals realized under any disturbance. |
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| Keywords: | Single rotor autonomous helicopter with ducted fan Two-dimensional pendulum with variable suspension point Lagrange equations Linear quadratic optimal regulator |
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