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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。
Coaxial helicopter control mechanism of the input / output kinematics complex, serious non-linearity, large control coupling between different channels, including the use of fully differential steering control mechanism is the most complex. In order to analyze the errors caused by the simplified modeling with proportional relation and to linearize the control system with inverse kinematics, it is necessary to precisely model the manipulator kinematics. For a heading full differential control mechanism, first of all, using the principles of mechanics, by removing the constraint, local degrees of freedom to simplify the mechanism to calculate the degree of freedom of the operating mechanism; and then, the control mechanism is divided into three sub-modules, Each module uses the position analysis method of space organization to carry on the forward and reverse kinematics deduction, establishes the complete kinematics model of the system; designs the test system by using optical measurement principle, and verifies the correctness of the model by experiments; finally, The application of the model built in the coaxial helicopter modeling, manipulation decoupling and linearization.