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題名 | 微飛行器之橫向動態穩定性分析與設計=Lateral Dynamic Stability Analysis and Design of Micro Air Vehicles |
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作者 | 張運生; 宋齊有; 郭智賢; Chang, Yun-sheng; Soong, Chyi-yeou; Kuo, Zeal-sain; |
期刊 | 航空太空及民航學刊. 系列B |
出版日期 | 20060400 |
卷期 | 38:1 民95.04 |
頁次 | 頁37-47 |
分類號 | 447.7 |
語文 | chi |
關鍵詞 | 微飛行器; 低雷諾數飛行; 橫向穩定性; 非線性系統; 線性系統; MAV; Low-reynolds-number flight; Lateral stability; Nonlinear system; Linear-time-invariant system; |
中文摘要 | 本研究重點爲微飛行器之橫向穩定性分析與設計,分析之標的爲本團隊所設計之全翼型微飛行器。研究中首先建立飛線性之六自由度運動方程組以及適用於微飛行器之線性時變(Linear Time Variant)及線性非時變(Linear Time Invariant)兩個簡化之系統運動方程式。配合以理論公式與低雷諾數風洞試驗數據計算之氣動力導數,以上述各理論模式進行微飛行器模擬與分析,以探討微飛行器系統之動態特性以及各參數之影響,並比較不同系統模式模擬結果,檢視線性與非線性系統模式於微飛行器動態行爲模擬之差異。控制面設計與組件配置之影響亦有分析,另運用古典控制PID法則於飛行控制系統設計,進行非線性受控系統之動態響應模擬,以驗證控制器之可行性。本研究結果有助益微飛行器飛行特性之瞭解以及微飛行器之構型與飛控系統設計。 |
英文摘要 | The objectives of present study focus on the lateral stability characteristics and configuration design of a whole-wing micro aerial vehicle (MAV). A nonlinear dynamical model of the MAV is first constructed with six-degree-of-freedom (6 DOF) and the aerodynamic data are taken from low Reynolds number wind tunnel testing as well as theoretical/empirical formulas. Then, linear time variant and invariant models are derived by applying perturbation theory and linearized around an equilibrium operating condition. Numerous simulations of linear and nonlinear dynamical models of the MAV with various control surfaces and component allocations are performed over a wide range of operating conditions to evaluate and compare the flight stability characteristics. In addition, simulations of dynamical response of the nonlinear system with flight control based on the PID theory are performed to demonstrate the feasibility of the controller. The present analysis is beneficial to understanding of lateral flight characteristics and design of configuration and flight control of MAV. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。