A nonlinear flight controller design for a UFO by trajectory linearization method - Part I - Modeling

被引：0
|
作者：
Wu, XF [1 ]
Ignatov, R [1 ]
Muenst, G [1 ]
Imaev, A [1 ]
Zhu, JJ [1 ]
机构：
[1] Ohio Univ, Sch EECS, Athens, OH 45701 USA
来源：
PROCEEDINGS OF THE THIRTY-FOURTH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY | 2002年
关键词：
D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present the development of a nonlinear dynamic model of a 3 degrees-of-freedom (3 DOF) flight control experiment apparatus, the "Quanser UFO", which is a helicopter with three propellers driven by DC motors. The modeling includes determination of the geometric and physical properties of the airframe, control derivatives, static stability, as well as closed-loop attitude control performance specifications. The location of the center of gravity (CG) and the mass moments of inertia are determined by both experimental approaches and by means of a three-dimensional Computer Aided Design (CAD) software package Solid Edge. The control effectiveness derivative matrix is determined from the nominal DC motor and propeller parameters. Closed-loop flying quality specifications are also derived, assuming the UFO is a 1:9 scale model of a real aircraft. The nonlinear dynamic model was then implemented and validated in SIMULINK.
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页码：97 / 102
页数：6
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