基于Lagrange方法的单旋翼飞行器动力学建模

发布时间：2018-05-01 09:09

  本文选题：Lagrange方程 + 坐标变换矩阵　； 参考：《飞行力学》2016年04期

【摘要】：为了进行微小型单旋翼飞行器的动力学建模,通过建立多个坐标系来反映各部分间的相对运动。首先,利用坐标变换得到位置、速度及加速度等向量,并代入拉格朗日方程得到运动学模型;然后,对模型进行数值求解,得到飞行器的姿态响应。仿真结果表明,飞行器定点盘旋时合外力为零,能量保持不变;爬升或前飞时有非保守力做正功,能量增大。
[Abstract]:In order to model the dynamics of micro single rotor aircraft, several coordinate systems are established to reflect the relative motion of each part. Firstly, the position, velocity and acceleration vectors are obtained by coordinate transformation, and then the kinematics model is obtained by the Lagrange equation, and then the attitude response of the aircraft is obtained by solving the model numerically. The simulation results show that the combined external force is zero and the energy remains unchanged when the aircraft hovers at a fixed point, and the positive work is made by non-conservative force when climbing or flying forward, and the energy increases.
【作者单位】： 西北工业大学航空学院;
【分类号】：V212
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本文编号：1828664