无人机专业英语第二版_4.1 Flight dynamics of UAV——quad.pptVIP

四旋翼飞行器飞行动力学Project4:Quadcopter——TheFlightdynamicsoffset[??fset]cumulative[?kju:mj?l?t?v]spin [sp?n]aerodynamic[?e?r??da?n?m?k]schematic[ski:?m?t?k]yield [ji:ld]diametrically[?da???metr?kli] coaxial [k???ks??l] alike [??la?k] NewWords抵消;补偿;累积的;渐增的;追加的;快速旋转;眩晕;空气动力（学）的;纲要的;示意的;严谨的;有章法的;屈服，投降;生产;获利;不再反对;作为直径地，直接地;同轴的，共轴的;同样地;两者都，同样地;类似于;TheFlightdynamicsEachrotorproducesbotha?thrust?and?torque?aboutitscenterofrotation,aswellasa?dragforce?oppositetothevehiclesdirectionofflight.Ifallrotorsarespinningatthesame?angularvelocity,withrotorsoneandthreerotatingclockwiseandrotorstwoandfourcounterclockwise,thenetaerodynamictorque,andhencetheangularaccelerationaboutthe?yawaxis,isexactlyzero,whichmeanthereisnoneedforatailrotorasonconventionalhelicopters.Yawisinducedbymismatchingthebalanceinaerodynamictorques(i.e.,byoffsettingthecumulativethrustcommandsbetweenthecounter-rotatingbladepairs).Part1----theFlightDynamicsTheFlightdynamics每个转子产生一个推力和绕其中心旋转的扭矩，以及与飞机飞行方向相反的阻力。如果所有的转子以同一角速度旋转，并且转子一和三顺时针旋转，转子二和四逆时针旋转，净空气动力矩，因此绕偏航轴的角加速度为零，这意味着无需像常规直升机那样需要一尾桨。偏航是由空气动力转矩不平衡引起的（即通过抵消反向旋转的叶片对之间的累积推力命令）。Thisshowsthedirectionoftravelforeachpropellerrespectivetothedirectionoftravel.Theredpropellersaremovingclockwisewhilethebluepropellersaremovingcounterclockwise.Schematicofreactiontorquesoneachmotorofaquadcopteraircraft,duetospinningrotors.Rotors1and3spininonedirection,whilerotors2and4spinintheoppositedirection,yieldingopposingtorquesforcontrol.Part1----theFlightDynamics由于转子旋转，在每一电机上反作用力矩示意图。转子1和3旋转在一个方向上，而转子2和4以相反的方向旋转，这样产生相反的控制扭矩。Part1----theFlightDynamicsAquadrotorhoversoradjustsitsaltitudebyapplyingequalthrusttoallfourrotors.Aquadrotoradjustsit