小型飞行器的六维飞行力测定-工程力学专业.docxVIP

PAGE PAGE 24 小型飞行器的六维飞行力测定-工程力学专业 目 录TOC \o 1-3 \h \u 引 言 1 第一章 小型飞行器的研究现状 1 1.1国外研究现状 1 1.2国内研究现状 4 第二章 小型飞行器相关理论概述 6 2.1小型飞行器的由来 6 2.2小型飞行器的种类 7 2.2.1微小型固定翼飞行器 8 2.2.2微小型旋翼飞行器 8 2.2.3微小型扑翼飞行器 9 第三章 小型飞行器的控制原理及数学建模 9 3.1飞行控制原理 9 3.2数学建模 11 3.2.1 建立动力学方程 12 3.3姿态解算 13 3.3飞行控制算法 14 第四章 六维力测力系统 14 4.1六维力传感器 14 4.2六维力传感器工作原理 15 4.2.1 六维力传感器的标定 15 结 论 16 参考文献 18 致 谢 20 摘 要 小型飞行器是一种结构紧凑、飞行方式独特的垂直起降式飞行器，因其起飞降落所依赖空间小，及姿态保持能力强等优点，在军事和民用等多个领域都有广阔的应用前景。目前市场上出现了多种小型飞行器用于军事、航拍、农作物农药的播撒等给人们带来方便。但是小型飞行器也有弊端，在有风情况下，小型飞行器的飞行状态极不稳定操控者不易操控，需要进行专业培训。提高操控能力需要操控者对飞行器在不同风力状态下所需要的飞行力有个定量了解。本文利用一款六维力测力系统对某款小型飞行器的飞行力进行实验测量，希望通过大量的实验，得出有价值的结果，为操控飞行器人员提供理论参考。 关键词：小型飞行器；六维力；数学建模 Abstract Small aircraft is a kind of vertical take-off and landing aircraft with compact structure and unique flight mode. Due to its advantages such as small space for takeoff and landing and strong attitude maintaining ability, it has a broad application prospect in military and civil fields. At present, a variety of small aircraft have appeared on the market for military, aerial photography, crop pesticides spread and so on to bring convenience to people. However, in the case of wind, the flight status of small aircraft is not stable and it is difficult for the pilot to control, which requires professional training. Improving control requires the operator to have a quantitative understanding of the flight force required by the aircraft under different wind conditions. In this paper, a six-dimensional force measurement system is used to measure the flight force of a small aircraft, and the six-dimensional force data under different wind conditions are proposed to provide a theoretical reference for aircraft operators. Key words: small aircraft,；six - dimensional force,；mathematical modeling 引 言 目前市场上出现了多种小型飞行器应用于军事、航拍、农作物农药播撒等给人们带来方便，它具备随时起降、低空飞行等优异性能。但由于小型无人机飞行器传动系统是一个机体内部结构复杂、非线性、强耦合的传动设备，自然因素如气温、风向等变化都可能对飞行情况造成明显影响，因此，此类小型无人机的飞行自控系统