First Principle Approach to Modeling of Small Scale Helicopter
2014-06-23 |
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资料介绍
The establishment of global helicopter linear model is very
precious and useful for the design of the linear control laws,
since it is never afforded in the published literatures. In the
first principle approach, the mathematical model was
developed using basic helicopter theory accounting for
particular characteristic of the miniature helicopter. No
formal system identification procedures are required for the
proposed model structure. The relevant published literatures
however did not present the linear models required for the
design of linear control laws. The paper presents a step by
step development of linear model for small scale helicopter
based on first-principle approach. Beyond the previous
work in literatures, the calculation of the stability
derivatives is presented in detail. A computer program is
used to solve the equilibrium conditions and then calculate
the change in aerodynamics forces and moments due to the
change in each degree of freedom and control input. The
detail derivation allows the comprehensive analysis of
relative dominance of vehicle states and input variables to
force and moment components. Hence it facilitates the
development of minimum complexity small scale helicopter
dynamics model。
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