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对某小型无人直升机的增稳动力学进行了精确的建模 ,鉴于稳定杆对飞行动力学有很重要的影响 ,本文对旋翼和稳定杆系统分别进行建模 .通过仿真的比较和分析表明 ,稳定杆引起了姿态系统的小阻尼和峰值 ,采取加入陷波器的方法进行补偿 ,使姿态系统的性能得到了明显的优化 .
The stabilization dynamics of a small unmanned helicopter has been modeled accurately. In view of the important influence of stabilizer on the flight dynamics, the rotor and stabilizer systems are modeled separately in this paper. Comparisons and analyzes show that , The stability bar caused a small damping and peak attitude system, adding a notch filter method to compensate, the performance of the attitude system has been significantly optimized.