Longitudinal-column type double-rotor-wing helicopter model system based on nonlinear three freedom degrees

Abstract

The invention discloses a longitudinal-column type double-rotor-wing helicopter model system based on nonlinear three freedom degrees, and the system is characterized in that the system employs the following steps: 1, selecting a height axis and a rotating axis from the three freedom degrees, adding a state and achieving decoupling in a system dynamic state, and knowing that a system model has a nonsingular decoupling matrix (shown in the description); 2, employing a PCGSHF multi-rate sampling signal retainer to achieve the Taylor power series approximate expansion of system output in each section, and obtaining an approximate discrete time model (shown in the description) of a double-rotor-wing helicopter model under the PCGSHF condition, so a local truncation error between one order output (shown in the description) of a deduced approximate discrete time system and the output of a corresponding original continuous time system is shown in the description; 3, enabling a discretization zero dynamic state to consist of a true dynamic state and a sampling zero dynamic state, wherein the approximate asymptotic expression of the true dynamic state of the system is shown in the description, and the sampling zero dynamic state is the root of a characteristic polynomial (shown in the description).

Description

technical field [0001] The invention belongs to the application field of control theory, in particular to a nonlinear three-degree-of-freedom tandem dual-rotor helicopter model system, which is used for the design of the three-degree-of-freedom dual-rotor helicopter model. Background technique [0002] The helicopter is mainly composed of three major systems: airframe, lift (including rotor and tail rotor), power transmission, and airborne flight equipment, and is driven by a power plant as the main source of lift and propulsion. Rotorcraft capable of vertical take-off and landing, hovering in the air, low-altitude and low-speed flight, front and rear, left and right, has a very wide application value in both military and civilian applications, and is also a complex research object within the scope of control disciplines. It has aroused the interest of many scholars in recent years. Usually, the flight control of a helicopter has the characteristics of multiple input and mu...

AI Technical Summary

Problems solved by technology

[0004] The twin-helical helicopter system designed and controlled by the nonlinear one-degree-of-freedom twin-rotor helicopter model can fly stably, but the dynamic and static performance is poor, the startup speed is slow, and there is a large error in the steady state

This shows that the nonlinear one-degree-of-freedom dual-rotor helicopter model is very poor for the control and simulation of systems with complex nonlinear, strong coupling and strong uncertainty phenomena

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