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首页> 外文期刊>Journal of robotic systems >Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics
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Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics

机译：具有Flybar动力学的无人直升机机器人的数学建模和实验辨识

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This paper presents a mathematical model for a model-scale unmanned helicopter robot, with emphasis on the dynamics of the flybar. The interaction between the flybar and the main rotor blade is explained in detail; it is shown how the flapping of the flybar increases the stability of the helicopter robot as well as assists in its actuation. The model helicopter has a fast time-domain response due to its small size, and is inherently unstable. Therefore, most commercially available model helicopters use the flybar to augment stability and make it easier for a pilot to fly. Working from first principles and basic aerodynamics, the equations of motion for full six degree-of-freedom with flybar-degree of freedom are derived. System identification experiments and results are presented to verify the mathematical model structure and to identify model parameters such as inertias and aerodynamic constants.
机译：本文介绍了模型规模的无人直升机机器人的数学模型，重点是飞杆的动力学。详细说明了飞杆和主旋翼桨叶之间的相互作用。它显示了飞杆的摆动如何增加直升机机器人的稳定性以及如何辅助其致动。模型直升机由于体积小而具有快速的时域响应，并且固有地不稳定。因此，大多数市售的模型直升机都使用飞杆来增加稳定性，并使飞行员更容易飞行。从第一原理和基本空气动力学原理出发，推导了具有自由杆自由度的完整六自由度的运动方程。提出了系统识别实验和结果，以验证数学模型的结构并识别模型参数，例如惯性和空气动力学常数。

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