CAJ | 학술논문

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。
침대구유고도비선성、복잡동역학특성적소형무인직승궤，기우Kane방법，제출료일충추도기동역학모형적신방법。해방법겸유시량역학화분석역학적우점，수선채용구랍각위요궤체좌표축3－2－1중신건립료소형무인직승궤적평이화선전동역학모형，건모과정중고필도주선익타라효응대모형적영향，장주선익당성강체，감소료건모적복잡도。기차，통과우화모형사종횡향통도실현해우，편우자태공제기적설계。최후，방진실험전현료소형무인직승궤적평이화선전운동규률，병통과실비실험반영료소형무인직승궤재현정상태하적동태특성，장실비실험수거화우화후적방진결과진행비교，증명료소건모형적유효성。
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 meth-od 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 experi-ments 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 optimiza-tion results with the real flight results , it verifies the validity of the model .