摘要
为了解决倾转四旋翼飞行器的机械系统及控制系统的设计问题,首先在ADAMS软件中建立倾转四旋翼飞行器的虚拟样机机械模型,同时在MATLAB/Simulink环境中引入了跟踪微分器并建立了非线性串级PID控制系统模型,然后通过搭建共享的虚拟样机模型实现联合仿真,最终得到机械系统和控制系统优化后的设计方案。仿真结果表明:倾转四旋翼飞行器的姿态调整过程稳定,具有很好的动态响应特性,为今后旋翼倾转过程的理论分析打下了良好的基础。
In order to solve the design problem of mechanical system and control system of Quad Tiltrotor Aircraft, first of all, a model of mechanical virtual prototype of aircraft was built with ADAMS software. And by introducing a tracking differentiator, a nonlinear cascade PID control system model was built with MATLAB/Simulink. Then the complex mechanical-electronic system co-simulation which can provide us an optimized design scheme of mechanical system and control system was realized through constructing shared virtual prototype model. The simulation result shows that the attitude adjustment process of Quad Tihrotor Aircraft is stable, and presentes a great dynamic response. The outcome from this study has laid a good foundation for theoretical analysis on rotor rotating process in the future.
出处
《计算机仿真》
CSCD
北大核心
2015年第1期94-98,共5页
Computer Simulation
基金
国家自然科学基金项目(51075321)
关键词
虚拟样机技术
倾转四旋翼飞行器
串级控制
跟踪微分器
联合仿真
Virtual prototype technique
Quad Tiltrotor Aircraft
Cascade control
Tracking differentiator
Co-Simulation
