Simplified Model Building of Mini Unmanned Helicopter in Hover

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.

关键词： simplified model mini unmanned helicopter hover nonlinear

作者: Jiande Wu Yugang Fan Ting Feng Yi Chao

作者单位: Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunmi National Pilot School of Software Yunnan University Kunming,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 626-629

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）