Simplified Model Building of Mini Unmanned Helicopter in Hover

被引：1
|
作者：
Wu, Jiande [1 ]
Fan, Yugang [1 ]
Feng, Ting [1 ]
Chao, Yi [2 ]
机构：
[1] Kunming Univ Sci & Technol, Fac Informat Engn & Automat, Kunming, Peoples R China
[2] Yunnan Univ, Natl Pilot Sch Software, Kunming, Peoples R China
来源：
2ND IEEE INTERNATIONAL CONFERENCE ON ADVANCED COMPUTER CONTROL (ICACC 2010), VOL. 5 | 2010年
关键词：
simplified model; mini unmanned helicopter; hover; nonlinear;
D O I：
10.1109/ICACC.2010.5486797
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The reduced model of mini unmanned helicopter in hover is proposed in this paper. A specific analysis for the dynamic characteristics of mini unmanned helicopter is given. Based on the analysed results, we carry on a very thorough trim computing process under the condition that the mini unmanned helicopter stays in hover. We can use the 6-DOF rigid body equations of motion to establish a full state nonlinear equation for mini unmanned helicopter. Further, by taking a small disturbance linearization method, we can deduce a small disturbance linear differential equation of motion for the mini unmanned helicopter of constant motion. We believe this model means a lot to autonomous hover control.
引用
收藏
页码：626 / 629
页数：4
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