摘要
为了研究四旋翼飞行器在飞行过程中的共振现象,本文基于线性多体系统传递矩阵法对四旋翼飞行器进行振动分析,建立系统的总传递矩阵和特征方程,通过MATLAB求解特征方程得到其前10阶固有频率,并通过四旋翼飞行实验验证了固有频率求解的准确性。在此基础上,修正了四旋翼飞行器未考虑系统谐振模态的一类常规动力学模型,提出了一种带有谐振模态的四旋翼飞行器非刚体模型,该结果为后续的控制系统设计中如何抑制共振现象提供了的理论依据。
To study the resonance of the quadrotors during flight,vibration analysis of a quadrotor was studied based on the linear transfer matrix method for multi-body system.The overall transfer matrix and the characteristic equation of the system were established to obtain the natural frequencies from one-order to ten-order using MATLAB,and its accuracy was verified by an experiment on the quadrotor experimental platform.On this basis,the conventional mathematical model of a quadrotor which does not consider the system resonant mode is revised.Specifically,a flexible body model of a quadrotor which has the resonant mode is proposed.The main contribution of this paper is to give a theoretical evidence for quadrotor control system design to eliminate the resonance phenomenon.
作者
范肖肖
贺嘉璠
戚国庆
李银伢
盛安冬
FAN Xiao-xiao;HE Jia-fan;QI Guo-qing;LI Yin-ya;SHENG An-dong(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《电子设计工程》
2018年第16期12-18,共7页
Electronic Design Engineering
基金
中国国家自然科学基金资助(61104186
61273076)
