利用虚拟斜盘控制直升机

Drones Pub Date : 2024-07-16 DOI:10.3390/drones8070327
J. Flores, Sergio Salazar, I. González-Hernández, Yukio Rosales, Rogelio Lozano, Eduardo Salazar, Benjamin Nicolas
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引用次数: 0

摘要

本文介绍了一种用于经典配置微型直升机的虚拟斜盘机构。螺旋桨基座是由主旋翼扭矩调制驱动的被动机构的一部分,该机构使螺旋桨攻角产生同步和相反的变化,然后推力矢量倾斜。这种方法建议使用两个旋翼控制飞机的 6 个自由度。主旋翼控制垂直位移,利用扭矩调制和摆动铰链螺旋桨产生俯仰力矩、滚转力矩和水平位移,而偏航力矩则由尾旋翼控制。利用牛顿-欧拉方法获得了动态模型,并提出了鲁棒控制算法。实验结果表明了所提出的虚拟斜盘在实时室外悬停飞行中的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control of Helicopter Using Virtual Swashplate
This article presents a virtual swashplate mechanism for a mini helicopter in classic configuration. The propeller bases are part of a passive mechanism driven by main rotor torque modulaton, this mechanism generates a synchronous and opposite change in the propellers angle of attack, then the thrust vector tilts. This approach proposes to control the 6 degrees of freedom of the aircraft using two rotors. The main rotor controls vertical displacement and uses torque modulation and swing-hinged propellers to generate pitch and roll moments and the horizontal displacement while the yaw moment is controlled by the tail rotor. The dynamic model is obtained using the Newton-Euler approach and robust control algorithms are proposed. Experimental results are presented to show the performance of the proposed virtual swashplate in real-time outdoor hover flights.
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