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针对目前微小型多旋翼飞行器的控制缺点,对微小型多旋翼飞行器进行系统的非线性建模研究。采用叶素理论对螺旋桨桨叶进行建模,对其前行中的周期挥舞问题进行分析,进而修正旋翼的负载特性;研究刚性机身、桨毂、叶片、电机转轴等的动力学特性,建立了更为完善的微小型多旋翼飞行器非线性动力学模型。选取四旋翼飞行器作为仿真对象,在Matlab/Simulink环境下,搭建开环仿真框图进行仿真验证。仿真结果验证了该模型的准确性。
Aiming at the shortcomings of the current control methods of micro-multi-rotor aircraft, a nonlinear multi-rotor micro-rotor modeling system is studied. Propeller blades are modeled using the elemental theory and periodic swings are analyzed in order to correct the load characteristics of the rotor. The dynamic characteristics of the rigid fuselage, hub, blades and motor shaft are studied. A more complete nonlinear model of multi-rotor micro-rotor dynamics. Select four-rotor aircraft as a simulation object, in the Matlab / Simulink environment, to build open-loop simulation diagram for simulation. The simulation results verify the accuracy of the model.