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Real-time estimation of helicopter rotor blade kinematics through measurement of rotation induced acceleration

机译：通过测量旋转感应加速度来实时估算直升机旋翼运动学

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摘要

This paper presents a novel approach to monitoring rotor blade flap, lead-lag and pitch using an embedded gyroscope and symmetrically mounted MEMS accelerometers. The central hypothesis is that differential accelerometer measurements are proportional only to blade motion; fuselage acceleration and blade bending are inherently compensated for. The inverse kinematic relationships (from blade position to acceleration and angular rate) are derived and simulated to validate this hypothesis. An algorithm to solve the forward kinematic relationships (from sensor measurement to blade position) is developed using these simulation results. This algorithm is experimentally validated using a prototype device. The experimental results justify continued development of this kinematic estimation approach.
机译：本文提出了一种使用嵌入式陀螺仪和对称安装的MEMS加速度计监测转子叶片襟翼，超前滞后和俯仰的新颖方法。中心假设是差分加速度计的测量值仅与叶片运动成正比。机身加速和叶片弯曲得到了固有的补偿。逆运动学关系（从叶片位置到加速度和角速度）被推导并进行仿真，以验证这一假设。利用这些仿真结果，开发了一种解决正向运动关系（从传感器测量到叶片位置）的算法。使用原型设备对该算法进行了实验验证。实验结果证明了这种运动学估计方法的持续发展。

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