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当前无人机在各个领域正在发挥着越来越重要的作用。针对清华大学无人机研究的需要,首先分析了无人纵列式直升机的气动布局和操纵特性,建立了旋翼和直升机的数学模型,推导出控制量与飞机飞行状态的关系,实现了在PC机上实时仿真无人直升机的飞行状态及控制响应。仿真结果较好地反应了纵列式直升机的控制特性,在小扰动情况下的控制效果与直升机的实际飞行状态非常接近,实时仿真得到的控制响应和飞行状态数据为无人直升机的飞行控制系统的研究提供了依据。
The current drones are playing an increasingly important role in all fields. According to the need of UAV research in Tsinghua University, firstly, the aerodynamic layout and maneuvering characteristics of unmanned tandem helicopter are analyzed. The mathematical models of rotor and helicopter are established, and the relationship between the control volume and flight status is deduced. Real-time simulation of unmanned helicopter flight status and control response. The simulation results better reflect the control characteristics of the tandem helicopter. The control effect under small disturbance is very close to the actual flight state of the helicopter. The real-time simulated control response and flight status data are the flight control system of the unmanned helicopter The research provided the basis.