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分析了多无人直升机协调吊运系统的结构模型,将其等效为多刚体柔索系统。随后分析了系统的运动学模型,建立了协调吊运系统中各架直升机的位置显式表达式,并利用刚体运动学原理简洁地推导出雅可比矩阵;接下来根据直升机的空间位置分析了系统负载分配方法。然后利用基于斜率的方法分析了系统的稳定性。最后利用软件UG/ADAMS/MATLAB建立了仿真实验平台,仿真实验表明利用所建运动模型可以实时求得直升机的运动,且运动状态平滑。
The structural model of multi-helicopter coordinated lifting system is analyzed, which is equivalent to multi-rigid body flexible cable system. Then, the kinematics model of the system is analyzed and an explicit expression for the position of each helicopter in the coordinated lifting system is established. The Jacobian matrix is simply deduced by using the rigid body kinematics. Then the system is analyzed according to the space position of the helicopter Load distribution method. The stability of the system is then analyzed using a slope-based approach. Finally, a simulation experiment platform is set up by software UG / ADAMS / MATLAB. The simulation results show that the helicopter movement can be obtained in real time with the built motion model and the movement state is smooth.