共查询到15条相似文献,搜索用时 62 毫秒
1.
2.
3.
针对具有高度非线性、复杂动力学特性的小型无人直升机,基于Kane方法,提出了一种推导其动力学模型的新方法。该方法兼有矢量力学和分析力学的优点,首先采用欧拉角为绕机体坐标轴3-2-1重新建立了小型无人直升机的平移和旋转动力学模型,建模过程中考虑到主旋翼陀螺效应对模型的影响,将主旋翼当成刚体,减小了建模的复杂度。其次,通过优化模型使纵横向通道实现解耦,便于姿态控制器的设计。最后,仿真实验展现了小型无人直升机的平移和旋转运动规律,并通过实飞实验反映了小型无人直升机在悬停状态下的动态特性,将实飞实验数据和优化后的仿真结果进行比较,证明了所建模型的有效性。 相似文献
4.
小型无人直升机纵向稳定控制的研究 总被引:1,自引:0,他引:1
给出了一种稳定控制小型无人直升机纵向运动的方法。首先,利用已知模型作为待辨识无人直升机,选择3211序列作为控制输入,通过已有的模型,产生输入输出对;其次利用最小二乘的方法进行辨识,可以得到对应输入和输出关系的差分方程,通过离散系统和连续系统的对应关系,可以得到对应微分方程。最后,利用设计的PID控制器实现纵向姿态的跟踪控制,达到直升机纵向稳定控制的目的。仿真结果验证了方法的正确性以及实际应用的可行性。 相似文献
5.
6.
7.
8.
针对小型无人直升机在悬停状态下飞行动力学模型的系统辨识问题,提出了一种基于混沌蜂群算法(chaotic artificial bee colony algorithm,简称CABC)的辨识方法。由于直升机的数学模型是非线性的,因此用小扰动理论对其线性化,得到纵横方向待辨识的解耦模型;进一步将系统辨识问题转变成优化问题,以蜂群为搜索单位,通过群体之间的信息交流与优胜劣汰机制,使得蜂群向更优方向进化;利用混沌算子来改进侦察蜂的搜索机制,使得人工蜂群算法脱离局部最优束缚,获得更强的全局寻优能力。根据无人机实际飞行试验数据,对辨识获得的模型进行了分析与验证,结果表明,采用该辨识方法,估计出了解耦模型中的未知参数,与遗传算法和传统人工蜂群算法相比,所提算法的辨识精度更高。 相似文献
9.
介绍了起飞重量为120 kg的小型无人直升机总体结构布局,简述了该飞机自动驾驶系统的工作原理,提出了要采用自动驾驶的核心感应器——姿态陀螺。对飞机进行空中振动环境测试,得到飞机悬停、前飞状态下局部部位幅频特性,为陀螺的减振平台提供设计依据。本文着重论述了减振平台设计方法,重点在平台的关键部件减振器研制;通过理论分析和实验研究,研制出了一个内腔为硅油、外部为橡胶囊,重量轻、阻尼大、结构新颖减振器。飞机经过大量飞行实验,验证了研制的陀螺减振平台性能良好,解决了陀螺共振翻倒,输出假信号难题,为无人直升机进行自驾飞行提供保证。本文为相关的陀螺减振平台提供工程设计依据。 相似文献
10.
11.
基于目前应用极为广泛一类无人直升机,论述了它的旋翼操纵机构,特别是对它的主旋翼和稳定杆的动力学特性进行了详尽描述,通过对它们的动力特性分析为以后建立无人直升机的六自由度运动方程打下了基础。 相似文献
12.
XIN Zhekui FANG Yongchun Beijing Aerospace Automatic Control Institute Beijing China Institute of Robotics Information Automatic System Nankai University Tianjin China 《机械工程学报(英文版)》2011,(3):420-427
Due to potential wide applications,the problem of utilizing an unmanned helicopter to track a ground target has become one of the most active research directions in related areas.However,in most cases,it is possible for a dynamic target to implement evasive actions with strong maneuverability,such as a sudden turn during high-speed movement,to flee from the tracker,which then brings much difficulty for the design of tracking control systems.Currently,most research on this field focuses on utilizing a ground mobile robot to track a high-speed target.Unfortunately,it is very difficult to extend those developed methods to airborne applications due to much more complex dynamices of UAV-target relative motion.This study investiages thoroughly for the problem of using an unmanned helicopter to track a ground target,with particular emphasis on the avoidance of tracking failure caused by the evasive maneuvers of dynamic targets.Specifically,a novel control scheme,which consists of an innovative target tracking controller and a classical flight controller,is proposed for the helicopter-target tracking problem.Wherein,the tracking controller,whose design is the focus of the paper,aims to utilize the motion information of the helicopter and the dynamic target to construct a suitable trajectory for the helicopter,so that when it flies along this trajectory,the relative pose between the helicopter and the dynamic target will be kept consant.When designing the target tracking controller,a novel coordinate transformation is firstly introduced to convert the tracking system into a more compact form convenient for control law design,the desired velocities for the helicopter is then proposed with consideration of the dynamic constraint.The stability of the closed-loop system is finally analyzed by Lyapunov techniques.Based on Matlab/Simulink environment,two groups of simulation are conducted for the helicopter-target tracking control system where the target moves along a linear path and takes a sudden turn during high-speed movement,respectively.As shown by the simulation results,both the distance error and the pointing error are bounded during the tracking process,and they are convergent to zero when the target moves straightly.Moreover,the tracking performance can be adjusted properly to avoid tracking failure due to evasive maneuvers of the target,so as to guarantee superior tracking performance for all kinds of dynamic targets. 相似文献
13.
14.
15.
根据某无人直升机的飞行测量,获得其陀螺安装板的振动水平,对该陀螺减振器的频率和阻尼参数提出要求,设计了两种减振器,通过地面加速试验和试飞,优选设计方案。这种参数测定和试验选型的方法可为其他减振器设计提供借鉴。 相似文献