以转旋型无人直升机为研究对象,文中对其飞行动力学进行了数学建模,针对主尾桨、旋翼、机身、垂尾以及平尾创建气动力学模型,根据各部件力矩及气动力,通过微分方程模拟运算机体运动姿态,实现对旋翼型无人直升机非线性飞行动力学模型的创建。把飞行控制系统、遥控遥测软件、后台模型解算、前台仿真控制台集成为一个完整的闭环系统,降低仿真系统复杂性,提高仿真有效性。在进行旋翼型无人直升机起飞、航路飞行、着陆仿真试验时,旋翼型无人直升机在飞行过程中侧偏较小,实际飞行航线基本覆盖给定航路。这表明该文对旋翼型无人直升机非线性动力模型具有较高的置信度,这对控制律设计、仿真验证比较适合,仿真系统实时性达到预期效果。

Revolving type unmanned helicopter as the research object, its flight dynamics mathematical modeling is carried on, the main building lord tail rotor, fuselage, rotor, vertical tail and dynamic model of flat tail gas by building components torque and aerodynamic force on the body motion differential equation, differential equation, get type rotor unmanned helicopter nonlinear flight dynamic model. By integrating flight control system, background model calculation, remote control and telemetry software and front simulation console into a complete closed-loop system, the complexity of simulation system is reduced and the effectiveness of simulation is improved. In the simulation test of takeoff, route flight and landing of rotorcraft unmanned helicopter, the rotorcraft unmanned helicopter has very small sideslip in the flight process, and the actual flight path is very close to the given route. This indicates that the nonlinear dynamic model of rotary-wing unmanned helicopter has a high degree of confidence, which is suitable for control law design and simulation verification, and the real-time performance of the simulation system achieves the desired effect.

V275.2;V211.4