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系統識別號 U0026-0508201818183000
論文名稱(中文) 傾轉式旋翼機之穩定及懸停控制建模
論文名稱(英文) Stability and Hovering Control Modeling of Tiltrotor Aircraft
校院名稱 成功大學
系所名稱(中) 航空太空工程學系
系所名稱(英) Department of Aeronautics & Astronautics
學年度 106
學期 2
出版年 107
研究生(中文) 李昌軒
研究生(英文) Chang-Hsuan Lee
電子信箱 cutevacuum@gmail.com
學號 P46054286
學位類別 碩士
語文別 中文
論文頁數 70頁
口試委員 指導教授-陳介力
口試委員-彭兆仲
口試委員-林建宏
口試委員-林志哲
口試委員-賴盈誌
中文關鍵字 傾轉式旋翼機  非線性動態反算  NURBS  GTRS 
英文關鍵字 Tiltrotor Aircraft  Non-linear Dynamics Inverse  NURBS  GTRS 
學科別分類
中文摘要 本文主要研究為傾轉式旋翼機之飛行控制。藉由空氣動力學特性分析飛機各部件所產生的力及力矩以及飛機的幾何關係建立傾轉式旋翼機的數學模型,並針對旋翼機模式及定翼機模式設計高度及姿態控制器,再透過非線性動態反算(NDI)求得期望的控制面,以達到軌跡追蹤、空中懸停等控制目的,最後使用MATLAB/SINULINK進行傾轉式旋翼機的飛行模擬,在旋翼機模式下透過非均勻有理B樣條曲線(NURBS curve)規劃出符合物理特性之飛行運動軌跡,進行軌跡追蹤之飛行控制模擬,在定翼機模式下進行高度及姿態穩定飛行模擬,並確定合適的轉換路徑使傾轉式旋翼機平順地從旋翼機模式轉換到定翼機模式,完成轉換飛行模式間之過渡段飛行模擬。並將模擬過程之數據與美國國家航空暨太空總署(NASA)建立的傾轉式旋翼飛行器通用的飛行模擬數學模型(generic tiltrotor simulation, GTRS)做比較以驗證模型正確性。
英文摘要 This paper develops a simple model of a tiltrotor aircraft using the basic equation of motion. The model contains a fuselage, wings, horizontal and vertical tails and two main rotors. Aerodynamic loads and inertial forces at each part has been calculated and summed up, subsequently, transform the forces and moments to body forces and moments to get the trim equation. The altutide and attitude controller were designed for helicopter and airplane mode individually. The desire control surfaces were determined using nonlinear dynamic inverse(NDI) in order to implement hovering control or trajectory tracking. The simulation was carried out in MATLAB/Simulink. In helicopter mode, a physically flight path was planned with the method of Non-Uniform B-Spline(NURBS) in order to implement trajectory tracking or hovering control simulation. In airplane mode, the altutide and attitude stability control was finished. In comversion mode, a suitable control straregy was determined so the tiltrotor aircraft convet from helicopter mode to airplane mode smoothly. The results were validated against generic tiltrotor simulation(GTRS) model results established by America National Aeronautics and Space Administration(NASA). The model resulred in was able to show inherent tiltrotor charateristics.
論文目次 論文摘要 i
ABSTRACT ii
本文誌謝 x
本文目錄 xi
圖目錄 xiii
表目錄 xv
參數表 xvi
第1章 緒論 1
1.1 傾轉式旋翼機概述 1
1.2 文獻資料回顧 3
1.3 傾轉式旋翼機操縱方式 4
1.3.1旋翼機模式 4
1.3.2定翼機模式 5
1.4 本文研究工作 6
第2章 傾轉式旋翼機數學模型 7
2.1 座標軸系統定義及轉換 9
2.1.1重力座標系 9
2.1.2附體座標系 9
2.1.3短艙座標系 10
2.1.4無旋轉旋翼座標系 11
2.1.5旋翼座標系 12
2.1.6槳葉座標系 12
2.2 空氣動力學特性分析 13
2.2.1主翼(Wing) 14
2.2.2機身(Fuselage) 16
2.2.3水平尾翼(Horizontal Tail) 17
2.2.4垂直尾翼(Vertical Tail) 19
2.2.5旋翼(Main Rotor) 20
2.3 飛行控制系統 30
第3章 控制器設計 32
3.1 旋翼機模式控制設計 32
3.2 非線性動態反算 37
3.3 定翼機模式控制設計 40
第4章 控制系統理論模擬 42
4.1 定翼機模式路徑規畫模擬 42
4.2 由旋翼機模式到定翼機模式過渡模擬 50
第5章 結論與未來展望 63
附件A 65
參考文獻 68
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