模型直升机非线性动力学建模与控制仿真
Nonlinear Dynamics Modeling and Control Simulation of a Model Helicopter

摘要: 模型直升机是一个非线性、多变量的欠驱动系统，飞行稳定受到风力等外界因素的干扰，需要闭环控制来保证系统稳定性。首先本文的重点及难点是建立模型直升机的动力学方程，考虑发动机转子动力学、旋翼挥舞动力学和机体动力学来建立数学模型，然后应用PID闭环控制方法来实现系统的稳定性并且消除扰动带来的误差，最后搭建Simulink仿真模块进行仿真验证。结果表明基于动力学方程建立的闭环控制系统使模型直升机有很好的飞行性能及稳定性。

Abstract: Model helicopter is a nonlinear, multi variable and under actuated system, and it is easy to be dis-turbed by wind and other external factors. Closed-loop Controller is used to ensure the stability of the system. First, the emphasis and difficulty is the establishment of the model helicopter dynamics equations, which includes the engine rotor dynamics, flapping dynamics and frame dynamics. Then, the closed-loop PID controller is introduced in the system to achieve the stability of the system and to eliminate the error caused by the disturbance. Last, the Simulink simulation module is established to simulate. The results show that the closed loop control system based on the dynamic equation has good performance and stability.

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