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针对小型涵道飞行器介于直升机和固定翼飞机之间独特的结构特点和控制特性,对小型涵道飞行器在悬停状态下的动力学进行分析,结合刚体动力学和空气动力学对飞行器所受力和力矩进行推导,并建立动力学模型.同时对模型零动态的渐近属性进行研究,得出飞行器物理参数与内动态稳定性的关系,分析结果表明,系统零动态的指数不稳定性不仅受到控制舵压心到飞行器质心距离的影响,同时也和螺旋桨的陀螺惯量有关.
In view of the unique structural characteristics and control characteristics of small-scale bypass vehicles between helicopters and fixed-wing aircraft, the dynamics of small-scale bypass vehicles in hovering status are analyzed. Combining rigid body dynamics and aerodynamics, Force and moment are deduced and the dynamic model is established.At the same time, the asymptotic properties of the model are studied, and the relationship between the physical parameters of the aircraft and the internal dynamic stability is obtained. The analysis results show that the exponential instability of the system is not only not only dynamic Controlled by the control of the rudder to the centroid of the aircraft, the effect is also related to the gyroscopic inertia of the propeller.