直升機非線性飛行模擬環境的建立

Establishing Helicopter Nonlinear Flight Simulation Environment

邱岱瑋(Day-Woei Chiou) ； 楊憲東(Ciann-Dong Yang) ； 劉如豐(Ru-Feng Liu)

《中國航空太空學會學刊》 32卷3期 (2000/09) Pp. 203-221

https://doi.org/10.6124/TAASRC.200009_32(3).03

摘要

本論文的目的在於建立一套直升機數值模擬環境，根據直升機的外型幾何資料，求得直升機的非線性及線性數學模式，以作爲直升機動態模擬的基礎。本論文首先利用動力學及空氣動力學的原理，建立直升機的非線性數學模式，再利用力平衡及力矩平衡，求得直升機在不同飛行狀況的配平點。對於配平點作泰勒級數展開，可得線性模式。有了線性模式即可進行穩定分析及控制律的設計，最後將控制律加入數學模式中，進行直升機的非線性動態模擬。本論文所開發出來的模擬環境可用於對各種類型直升機的性能評估與控制策略的驗證。

關鍵字

直昇機 ； 非線性動態模擬 ； 飛行控制

並列摘要

The purpose of this paper is to establish a set of numerical methods to determine, according to the given helicopter geometrical configuration parameters, helicopter nonlinear mathematical models which are required in the simulations and control for helicopter motion. The approach starts with the theories of flight dynamics and aerodynamics to establish the nonlinear mathematical model of helicopter Then, by using the equilibrium of force and moment, the trim points of different flight conditions of the helicopter are determined. At each trim point, the linearized model is derived by using the Taylor's series expansion, based on which poles (eigenvalues) can be found and stability analysis can be conducted. Finally, various control laws are added to the established mathematical model and nonlinear simulations are employed to verify the helicopter motions.

並列關鍵字

Helicopter ； Nonlinear Dynamic Simulation ； Flight Control