The dynamics of the swashplate mechanism of a VTOL unmanned aerial vehicle

被引：14

作者：

Lange, C

Angeles, J

Ranjbaran, F

Goritschnig, G

机构：

[1] Graz Univ Technol, Inst Mech & Mechanisms, A-8010 Graz, Austria

[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada

[3] McGill Univ, Ctr Intelligent Machines, Montreal, PQ H3A 2K6, Canada

[4] Bombardier Serv Def, UAV Engn, Mirabel, PQ J7N 1H3, Canada

来源：

MULTIBODY SYSTEM DYNAMICS | 2001年 / 5卷 / 02期

关键词：

swashplate mechanism; helicopters; Unmanned Aerial Vehicles (UAV); dynamics of holonomic multibody systems; parallel platform-type manipulators;

D O I：

10.1023/A:1009874504407

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The dynamics of the swashplate mechanism of the CL-327, an Unmanned Aerial Vehicle (UAV) with a Vertical Take-Off-and-Landing (VTOL) ability is discussed in this paper, the underlying kinematics having been discussed in an earlier paper. The CL-327 (Guardian) is currently under production by Bombardier Services-Defence, and is considered the world's most versatile and advanced VTOL system in production. The steering control mechanism used in all helicopters, including the CL-327, is a complex multiloop kinematic chain often called the swashplate mechanism. In this paper a dynamic analysis of the particular design used for the swashplate of the CL-327 is discussed. The Newton-Euler formulation is used in conjunction with the natural orthogonal complement in order to derive the equations of motion of the system.

引用

页码：105 / 131

页数：27

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