﻿ 模型直升机非线性动力学建模与控制仿真 Nonlinear Dynamics Modeling and Control Simulation of a Model Helicopter

Modeling and Simulation
Vol.05 No.02(2016), Article ID:17726,10 pages
10.12677/MOS.2016.52008

Nonlinear Dynamics Modeling and Control Simulation of a Model Helicopter

Xiaowan Dong, Lifeng Wang

Field Bus Technology & Automation Lab, North China University of Technology, Beijing

Received: May 10th, 2016; accepted: May 27th, 2016; published: May 30th, 2016

ABSTRACT

Model helicopter is a nonlinear, multi variable and under actuated system, and it is easy to be disturbed by wind and other external factors. Closed-loop Controller is used to ensure the stability of the system. First, the emphasis and difficulty is the establishment of the model helicopter dynamics equations, which includes the engine rotor dynamics, flapping dynamics and frame dynamics. Then, the closed-loop PID controller is introduced in the system to achieve the stability of the system and to eliminate the error caused by the disturbance. Last, the Simulink simulation module is established to simulate. The results show that the closed loop control system based on the dynamic equation has good performance and stability.

Keywords:Model Helicopter, Dynamics Equations, Closed-Loop Control, Stability, Simulink Simulation

1. 引言

2. 模型直升机动力学模型

(1)

(2)

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Figure 1. Model helicopter coordinate frame system

(4)

(5)

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2.1. 受力分析

1) 主旋翼受力情况：要计算模型直升机的主旋翼产生的拉力，首先要分析主旋翼的拉力系数，即

(7)

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2) 尾桨受力情况：尾桨受力的计算方法与主旋翼的计算方法类似，如下：

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3) 机身受力情况：由机身所产生的力可以表示如下

(20)

4) 垂尾受力情况：垂尾产生的侧向力可表示如下

(21)

5) 平尾受力情况：平尾产生的Z方向上的力计算公式如下

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2.2. 力矩分析

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2.3. 转子动力学方程

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3. 闭环控制方法实现

Figure 2. Mathematical model of model helicopter

4. 仿真结果

Figure 3. Model helicopter closed-loop control structure diagram

Figure 4. The response line of velocity with time

Table 1. Model helicopter main parameters

Figure 5. The response line of position coordinate with time

Figure 6. The response line of attitude angle with time

Figure 7. The response line of control variable with time

Figure 8. The response line of rotor flapping angle with time

5. 结论

Nonlinear Dynamics Modeling and Control Simulation of a Model Helicopter[J]. 建模与仿真, 2016, 05(02): 57-66. http://dx.doi.org/10.12677/MOS.2016.52008

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