【摘要】 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。更多还原

【Abstract】 The small size unmanned helicopter exhibits a complex and nonlinear dynamics behavior. This paper describes a modeling method to deduce the dynamic model of the helicopter based on Kane’s method. This method combines the advantages of vector mechanics and analytical mechanics. Because of the gyroscopic effects of the main rotor,the main rotor should be considered as a rigid. Then it uses the Euler angles which rotates the body axis translation and obtains the rotation dynamic equations. It shows that longitudinal and lateral channels could be uncoupled easily for controller design by this method after optimization. At last,the simulation experiments show the law of the unmanned helicopter’s translation dynamic and rotation dynamic. And the real flight experiments show the dynamics performance when helicopter hovering. Comparing the simulation after optimization results with the real flight results,it verifies the validity of the model.更多还原