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題 名 | 無人直升機動態系統建模研究與懸停控制器設計=The Study of Dynamic Model and Hovering Control Design for Unmanned Helicopter |
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作 者 | 朱漢興; 李啟泰; 張建華; | 書刊名 | 新新科技年刊 |
卷 期 | 3 2007.01[民96.01] |
頁 次 | 頁53-64 |
分類號 | 447.738 |
關鍵詞 | 無人直升機; 停懸; 飛行控制; 系統鑑別; Unmanned helicopter; Hovering; Flight control; System identification; |
語 文 | 中文(Chinese) |
中文摘要 | 本文主要的目的是發展一套適合無人直升機飛行控制律設計所需的動力學數學模型,及動態建模後的停懸姿態控制器設計概念驗證。利用直升機旋翼提供之升力、推力及旋翼揮舞的動態效應,在不考慮功率問題及以現有可量測或可估算之外型幾何氣動力等參數進行數學建模,及利用實驗動態數據,以系統鑑別方法建立線性數學模型,並針對三種數學模型分別進行停懸時姿態保持之控制律設計及模擬分析。 |
英文摘要 | This paper presents the unmanned helicopter's dynamic models for autonomous flight control design and describes hovering control law design in order to evaluate the dynamic models. The mathematical models excluding power are derived by the blade element theory for rotor forces and moments, the induced velocity, and the flapping dynamic; the linear model is generated by experimental data with system identification method which is different from designing by the rotor theory. Simulation results demonstrate that the hovering controllers are capable of handling the helicopter's mathematical models for attitude hold. |
本系統中英文摘要資訊取自各篇刊載內容。