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：

暂无

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.

引用

页码：97 / 102

页数：6

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