Abstract
Accurate dynamic modeling lays foundation for design and control of UAV. The dynamic model for the multi-rotor fixed-wing UAV was looked into and it was divided into fuselage, air-body, multi-rotors, vertical fin, vertical tail and control surfaces, based on the multibody dynamics. The force and moment model for each body was established and derived into the Lagrange equation of the second king by virtual work. By electing quaternion as generalized coordinate and introducing Lagrangian multiplier, the dynamic modeling was deduced and established. Finally, the comparison between the simulation results and the experimental can be found that the present dynamic model accurately describes the process of dynamic change of this UAV and lay foundation for the control of UAV.
Highlights
it was divided into fuselage
experimental can be found that the present dynamic model accurately describes the process of dynamic change
为无人机 1 到 6 号旋翼所做虚功,δWk,δWj 分别为方 向舵和升降舵质心气动力所做虚功,δWh,δWi 分别 为无人机左右副翼质心气动力所做虚功,δWm 为垂 尾质心气动力所做虚功。
Summary
西北工业大学学报 Journal of Northwestern Polytechnical University https: / / doi.org / 10.1051 / jnwpu / 20193750928 随着“ 大鹏”、“ 蓝鲸” 等无人机的问世,多旋翼 固定翼无人机已成为目前研究的热点,由于其兼顾 垂直起降和前飞巡航性能,具有较大市场前景。 然 而对于多旋翼固定翼无人机的动力学建模问题到目 前为止仍然没有解决。 国外[1⁃2] 和国内[3] 分别采用 牛顿-欧拉方程和拉格朗日方程建立固定翼和旋翼 无人机的动力学模型,以上文献均是将无人机看成 完整刚体进行分析。 对于多旋翼固定翼这类特殊无 人机,其在运动过程当中与传统无人机存在以下区 别,首先其旋翼数量较多且旋翼叶片较大,因此旋翼 对于无人机的影响不可忽略;其次,对于该无人机的 动力学建模方法而言,拉格朗日方程与牛顿 -欧拉 方程相比,其主要采用能量交换的方式建立动力学 模型,建模更为系统,且拉格朗日方程直接通过旋翼 的转动动能引入旋翼对无人机整体的影响,因此选 用拉格朗日方程作为此类无人机的建模基本方程具 有优势。 为了解决上述问题,建立准确的无人机动 力学模型,采用多体动力学思路,将该无人机划分为 左右机翼、机体、左右平尾、旋翼、垂尾、舵面共计 16 个刚体,针对每个刚体单独进行动力学分析,通过虚 功和第二类拉格朗日方程[4], 建立该无人机动力学 模型,该建模方法的主要创新点在于,引入圆柱扰流 和平板扰流建立垂直起降过程的无人机非定常动力 学模型,采用四元数描述无人机质心姿态引入拉格 平尾、右 平 尾、 垂 尾、 升 降 舵、 左 副 翼、 右 副 翼、 方 向 舵、1 号旋翼、2 号旋翼、3 号旋翼、4 号旋翼、5 号旋 翼、6 号旋翼共计 16 个刚体,分别以每个刚体的质 心为坐标原点建立右手坐标系。 选取 Fe 作为基准 坐标系,Fl 为气流坐标系。
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