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为加快直升机动力学模型的解算速度,基于拉格朗日方程,以一个仿真步长内机身的微小位移和转角(IDRA)为广义坐标,提出了直升机动力学建模的IDRA法,简化了相邻步长间机体坐标系的转化矩阵,节省了CPU计算时间.同时,将直升机轮胎视为带有黏性阻尼的三维线性弹簧,将其势能、动能和耗散能用新的广义坐标表示,建立了集飞行与着陆于一身的机身动力学模型.实验结果表明:与传统方法相比,利用IDRA法可以节省1/3的CPU计算时间,飞行与着陆之间曲线过渡合理,从而验证了该方法的可靠性和实时性.
In order to speed up the resolution of the helicopter dynamics model, based on the Lagrange equation, the IDRA method of helicopter dynamics modeling is proposed by simplifying the displacement and rotation angle (IDRA) of the fuselage in a simulation step. The transformation matrices of the body coordinate system between adjacent steps are saved, which can save the CPU calculation time.At the same time, the helicopter tire is regarded as a three-dimensional linear spring with viscous damping, and its potential energy, kinetic energy and dissipation can be calculated by a new generalized coordinate The results show that compared with the traditional method, the IDRA method can save 1/3 CPU time and the transition curve between flight and landing is reasonable The reliability and real-time of the method are verified.