一种共轴式直升机操纵机构的运动学建模与分析

doi:10.7527/S1000-6893.2013.0188

流体力学与飞行力学

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一种共轴式直升机操纵机构的运动学建模与分析

袁夏明¹, 朱纪洪¹, 陈志刚², 鲁兴举³

1. 清华大学计算机科学与技术系, 北京 100084;
2. 兰州交通大学机电工程学院, 甘肃兰州 730070;
3. 国防科学技术大学机电工程与自动化学院, 湖南长沙 410073

收稿日期:2012-06-07 修回日期:2012-11-05 出版日期:2013-05-25 发布日期:2012-12-18
通讯作者: 朱纪洪男, 博士, 教授, 博士生导师。主要研究方向: 飞行控制与导航、鲁棒控制与非线性控制。 Tel: 010-62796706 E-mail: jhzhu@tsinghua.edu.cn E-mail:jhzhu@tsinghua.edu.cn
作者简介:袁夏明男, 博士研究生。主要研究方向: 无人直升机建模与飞行控制。 Tel: 010-62796711-8063 E-mail: summersbright@yahoo.com.cn;朱纪洪男, 博士, 教授, 博士生导师。主要研究方向: 飞行控制与导航、鲁棒控制与非线性控制。 Tel: 010-62796706 E-mail: jhzhu@tsinghua.edu.cn;陈志刚男, 硕士研究生。主要研究方向: 仿生机器人、空中机器人。 Tel: 010-62796711-8045 E-mail: chenzgbs@126.com;鲁兴举男, 博士研究生, 讲师。主要研究方向: 飞行器制导与控制。 Tel: 0731-84576381 E-mail: luxingju@163.com
基金资助:
国家自然科学基金(60974142)

Kinematic Modeling and Analysis of a Coaxial Helicopter’s Actuating Mechanism

YUAN Xiaming¹, ZHU Jihong¹, CHEN Zhigang², LU Xingju³

1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
2. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
3. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China

Received:2012-06-07 Revised:2012-11-05 Online:2013-05-25 Published:2012-12-18
Supported by:
National Natural Science Foundation of China (60974142)

摘要/Abstract

摘要：

共轴式直升机操纵机构的输入/输出运动学关系复杂、非线性严重,不同通道间控制耦合大,其中航向采用全差动的操纵机构最为复杂。为了分析用比例关系简化建模所引起的误差及利用逆运动学进行操纵系统线性化,必须对操纵机构运动学进行精确建模。针对一种航向全差动操纵机构,首先,运用机构学原理,通过去除过约束、局部自由度对机构进行简化,计算得到操纵机构自由度;然后,将操纵机构分为3个子模块,通过对每个模块应用空间机构位置分析方法进行正向、逆向运动学推导,建立系统完整的运动学模型;利用光学测量原理设计了测试系统,并通过实验验证了所建模型的正确性;最后给出了所建模型在共轴式直升机建模、操纵解耦及线性化方面的应用方法。

关键词: 直升机, 操纵机构, 运动学, 建模, 自由度

Abstract:

The kinematic relationship between the input and output of a coaxial helicopter's actuating mechanism is complicated and seriously nonlinear, and coupled among different channels as well, especially for the mechanism in yaw control which is fully-differential. For the purpose of error analysis on simplified modeling using proportional relationships, and linearization on the actuating system by inverse kinematics, it is necessary to model the actuating mechanism precisely. With regard to a fully-differential actuating mechanism, the over-constraint and local degrees of freedom are firstly eliminated based on the theory of mechanism, to calculate the total degrees of freedom of the actuating mechanism. Next, after dividing the mechanism into three sub-modules, the method of position analysis of spatial mechanisms is applied to derive the forward and inverse kinematic model of each sub-module to establish the complete kinematic model. Then a measurement system is designed based on the principle of optical measurement, and the established model is verified to be correct through experiment. Finally, the method of application with the established model to the modeling, actuating decoupling and linearization of coaxial helicopters is provided.

Key words: helicopter, actuating mechanism, kinematics, modeling, degree of freedom

中图分类号:

V275⁺.1

袁夏明, 朱纪洪, 陈志刚, 鲁兴举. 一种共轴式直升机操纵机构的运动学建模与分析[J]. 航空学报, 2013, 34(5): 988-1000.

YUAN Xiaming, ZHU Jihong, CHEN Zhigang, LU Xingju. Kinematic Modeling and Analysis of a Coaxial Helicopter’s Actuating Mechanism[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(5): 988-1000.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

一种共轴式直升机操纵机构的运动学建模与分析

Kinematic Modeling and Analysis of a Coaxial Helicopter’s Actuating Mechanism

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