TAILIEUCHUNG - Robotics Automation and Control 2011 Part 4

Tham khảo tài liệu 'robotics automation and control 2011 part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Robust and Active Trajectory Tracking for an Autonomous Helicopter under Wind Gust 81 Trainer helicopter in turbulent conditions to determine disturbance rejection criteria and to develop a low speed turbulence model for an autonomous helicopter simulation. A simple approach to modeling the aircraft response to turbulence is described by using an identified model of the VARIO Benzin Trainer to extract representative control inputs that replicate the aircraft response to disturbances. This parametric turbulence model is designed to be scaled for varying levels of turbulence and utilized in ground or in-flight simulation. Hereafter the nonlinear model of the disturbed helicopter Martini et al. 2005 starting from a non disturbed model Vilchis 2001 is presented. The Vario helicopter is mounted on an experimental platform and submitted to a vertical wind gust see . It can be noted that the helicopter is in an Out Ground Effect OGE condition. The effects of the compressed air in take-off and landing are then neglected. The Lagrange equation which describes the system of the helicopter-platform with the disturbance is given by .1 C .r G q Q . II. 1 where the input vector of the control u u1 u2 Tand q z y y tis the vector of generalized coordinates. The first control U1 is the collective pitch angle swashplate displacement of the main rotor. The second control input u2 is the collective pitch angle swashplate displacement of the tail rotor. The induced gust velocity is noted vraf. The helicopter altitude is noted z y is the yaw angle and Y is the main rotor azimuth angle. M e R3x3 is the inertia matrix C e R3x3 is the Coriolis and centrifugal forces matrix G e R3 represents the vector of conservative forces Q q q u vraf fz Tz Ty T is the vector of generalized forces. The variables fz Tz and TY represent respectively the total vertical force the yaw torque and the main rotor torque in presence of wind gust. Finally the representation of the reduced system of the .

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