| 新型三轴式双旋翼直升机姿态控制 |
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| 引用本文： | 王新宇,宋明明,郝仁剑,周永明,李月标,孙冠,马志赛.新型三轴式双旋翼直升机姿态控制[J].大连理工大学学报,2011,51(Z1):73-76. |
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| 作者姓名： | 王新宇 宋明明 郝仁剑 周永明 李月标 孙冠 马志赛 |
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| 作者单位： | 北京理工大学自动化学院; |
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| 基金项目： | 国家大学生创新性实验计划资助项目(091000728) |
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| 摘 要： | 无人直升机在军事、民用领域扮演着重要角色.新型三轴式双旋翼直升机结构简单、容易控制、稳定性强.通过对新型直升机进行数学建模,提出电机实时分组控制新算法,实现了各姿态角独立控制,进而实现了直升机的姿态和航向控制.测试证明,新型直升机具有良好的操控性和稳定性,应用前景广泛.
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| 关 键 词： | 三轴式双旋翼 无人直升机 实时分组算法 姿态控制 |
Attitude control of new three-axis dual rotor helicopter |
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| WANG Xin-yu,SONG Ming-ming,HAO Ren-jian,ZHOU Yong-ming,LI Yue-biao,SUN Guan,MA Zhi-sai.Attitude control of new three-axis dual rotor helicopter[J].Journal of Dalian University of Technology,2011,51(Z1):73-76. |
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| Authors: | WANG Xin-yu SONG Ming-ming HAO Ren-jian ZHOU Yong-ming LI Yue-biao SUN Guan MA Zhi-sai |
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| Institution: | WANG Xin-yu*,SONG Ming-ming,HAO Ren-jian,ZHOU Yong-ming,LI Yue-biao,SUN Guan,MA Zhi-saiSchool of Automation,Beijing Institute of Technology,Beijing 100081,China |
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| Abstract: | Autonomous helicopter plays an important role in the field of military and civil activities.New three-axis dual rotor helicopter is simple,easy to control and of strong stability.By building the mathematic model of the helicopter,a new motor control algorithm of real-time grouping is put forward and the independent control of the attitude angle is realized,and then the posture and course of the helicopter are controlled.It′s shown that three-axis dual rotor helicopter has good playability and stability,and has a wide application prospect. |
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| Keywords: | three-axis dual rotor autonomous helicopter algorithm of real-time grouping attitude control |
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