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针对动力伞的动力学研究,建立了全量模型研究无人动力伞飞行中动态特性问题。在惯性系下从牛顿力学基本原理出发,用矢量方法推导无人动力伞的动力学方程;经过坐标转换,得到动力学方程在体轴系下的形式,并补充运动学方程,使方程组满足封闭性要求,从而建立完整的矢量动力学模型。通过两个仿真算例,分析了动力伞实施推力和航向舵下偏控制的飞行特性,验证了模型的合理性。
Aiming at the dynamic study of the paramotor, a full-scale model was established to study the dynamic characteristics of the unmanned paramotor flight. In the inertial system, starting from the basic principle of Newton mechanics, the dynamic equations of unmanned powered parachute are deduced by vector method. After coordinate transformation, the form of dynamic equations under the body shaft system is obtained, and the equations of kinematics are replenished, Closure requirements, so as to establish a complete vector dynamics model. Through two simulation examples, the flight characteristics of the thrust parachute under the thrust control and the deflection control of the rudder are analyzed, and the rationality of the model is verified.