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对固定翼与四旋翼结合的复合飞行器进行了动力学分析,依据坐标转换关系,得到复合飞行器的非线性动力学模型.在悬停状态或者垂直起飞状态下,分别以旋翼升力和转矩作为控制输入量时,对所对应的系统传递函数进行了分析.最后使用PID控制器对模型的响应特征进行了仿真对比验证,得出以转矩为控制输入量时系统传递函数不存在耦合项,提高了模型的适应性和稳定性.
The dynamics analysis of the composite aircraft with fixed wing and quadrotor is carried out and the nonlinear dynamic model of the composite aircraft is obtained according to the coordinate transformation relationship.With the hovering state or the vertical takeoff state, The corresponding system transfer function is analyzed.Finally, the PID controller is used to verify the response characteristics of the model, and the result shows that there is no coupling term for the system transfer function when the torque is the control input, The adaptability and stability of the model.