本文選題：Lagrange方程 + 坐標(biāo)變換矩陣��； 參考：《飛行力學(xué)》2016年04期

【摘要】：為了進(jìn)行微小型單旋翼飛行器的動力學(xué)建模,通過建立多個坐標(biāo)系來反映各部分間的相對運(yùn)動。首先,利用坐標(biāo)變換得到位置、速度及加速度等向量,并代入拉格朗日方程得到運(yùn)動學(xué)模型;然后,對模型進(jìn)行數(shù)值求解,得到飛行器的姿態(tài)響應(yīng)。仿真結(jié)果表明,飛行器定點(diǎn)盤旋時合外力為零,能量保持不變;爬升或前飛時有非保守力做正功,能量增大。
[Abstract]:In order to model the dynamics of micro single rotor aircraft, several coordinate systems are established to reflect the relative motion of each part. Firstly, the position, velocity and acceleration vectors are obtained by coordinate transformation, and then the kinematics model is obtained by the Lagrange equation, and then the attitude response of the aircraft is obtained by solving the model numerically. The simulation results show that the combined external force is zero and the energy remains unchanged when the aircraft hovers at a fixed point, and the positive work is made by non-conservative force when climbing or flying forward, and the energy increases.
【作者單位】： 西北工業(yè)大學(xué)航空學(xué)院;
【分類號】：V212
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本文編號：1828664