Bond Graph Dynamic Modeling and Stabilization （键合图动态建模和稳定）.pdf

Bond Graph Dynamic Modeling and Stabilization of a Quad-Rotor Helicopter M. Raju Hossain, D. Geoff Rideout, D. Nicholas Krouglicof Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John’s, Newfoundland, Canada Email: mrhossain@mun.ca, g.rideout@mun.ca, nickk@mun.ca Keywords: Bond graph in aerospace, quad-rotor helicopter and disaster search in partially collapsed buildings [1]. dynamics, stabilization of quad-rotor helicopters. Mesicopter [2] was an ambitious project which explored ways to fabricate centimeter-sized vehicles. The OS4 Abstract project [3] was started in March 2003, with an aim to Four-rotor/quad-rotor helicopters are emerging as a popular develop devices for searching and monitoring hostile indoor unmanned aerial vehicle configuration because of their environments. The X4 Flyer project of Australian National simple construction, easy maintenance and high payload University [4] aims at developing a quad-rotor for indoor capacity. A quadrotor is an under-actuated mechanical and outdoor applications. However, control of a quad rotor system with six degrees of freedom and four lift-generating helicopter is very complex and virtually impossible without propellers arranged in cross configuration. Maneuvers are modern computer based control systems due to i