带铰接旋翼的系绳自转旋翼机的3D建模及基于差动旋翼制动的姿态控制
3D Modeling of a Tethered Autogyro with Articulated Rotors and Attitude Control using Differential Rotor Braking
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中文总结 AI 辅助
本文针对带铰接旋翼的系绳自转旋翼机，扩展建立三维动态模型，提出基于差动旋翼制动的姿态控制策略，仿真验证其可实现稳定飞行。
中文摘要 AI 辅助
带铰接旋翼的系绳自转旋翼机可作为无人机运行，它利用环境风能维持飞行，具备节能、长航时部署的能力。本文针对该系统提出一种基于模型的姿态控制技术，采用全保真动态模型，结合拉格朗日方法、叶素动量理论与悬链线力学，将此前开发的二维混合模型扩展至三维。新模型描述了机身的完整刚体运动，包括滚转与偏航动力学，同时为每个旋翼桨叶增加了转速与挥舞自由度。通过稳态响应分析平衡特性，并与此前的模型进行对比，发现所得的平衡趋势与文献报道的结果一致。本文开发了一种基于再生式差动旋翼制动的反馈控制策略，用于调节全部三个姿态角，仿真结果表明该策略可实现有效的姿态调节与稳定飞行。
英文摘要
A tethered autogyro with articulated rotors can operate as an unmanned aerial vehicle capable of energy-efficient, long-duration deployment by utilizing ambient wind energy to sustain flight. This article presents a model-based attitude control technique for such a system using a full-fidelity dynamic model. Using Lagrangian approach combined with Blade Element Momentum Theory and catenary mechanics, a previously developed 2D hybrid model is extended to three dimensions. The new model describes the complete rigid-body motion of the frame, including roll and yaw dynamics, and is augmented with rotor speed and flapping degrees of freedom for each blade. Equilibrium characteristics are examined through steady-state responses and compared with the prior model. The resulting trends of equilibria are found to be consistent with those reported in the literature. A feedback control strategy based on regenerative differential rotor braking is developed to modulate all three attitude angles. Simulations demonstrate effective attitude regulation and stable flight.
