【摘要】：陸空車輛是一種具備陸地行駛能力以及空中巡航飛行性能的多用途綜合交通工具,其對(duì)多種環(huán)境的良好適應(yīng)能力使得其可以在軍用領(lǐng)域和民用領(lǐng)域得到廣泛的應(yīng)用。陸空車輛的飛行控制需要在精確的陸空車輛飛行氣動(dòng)模型上進(jìn)行設(shè)計(jì)開發(fā)。因而精確建模技術(shù)是進(jìn)行陸空車輛飛行控制研究、甚至實(shí)現(xiàn)自主飛行以及相關(guān)實(shí)驗(yàn)研究的基礎(chǔ)性工作。為獲取準(zhǔn)確可靠的陸空車輛飛行氣動(dòng)模型,本文以縱置雙涵道陸空車輛縮比模型為研究參照,開展了以下研究工作:(1)對(duì)縱置雙涵道陸空車輛的結(jié)構(gòu)與工作原理進(jìn)行了介紹,對(duì)陸空車輛驅(qū)動(dòng)系統(tǒng)進(jìn)行了機(jī)理分析,獲取了控制信號(hào)到旋槳轉(zhuǎn)速輸出的傳遞函數(shù)模型。結(jié)合葉素理論以及常用氣動(dòng)力計(jì)算理論以及牛頓 歐拉剛體運(yùn)動(dòng)方程得出了陸空車輛的非線性動(dòng)力學(xué)方程。然后對(duì)獲取的非線性方程在懸停工況點(diǎn)進(jìn)行小擾動(dòng)線性化處理,建立了陸空車輛角動(dòng)態(tài)運(yùn)動(dòng)通道的狀態(tài)空間方程的模型。(2)基于頻域辨識(shí)理論,對(duì)陸空車輛模型的辨識(shí)實(shí)驗(yàn)進(jìn)行了方案設(shè)計(jì),并設(shè)計(jì)編制了相應(yīng)的數(shù)據(jù)采集軟件。(3)對(duì)無(wú)刷直流電機(jī)驅(qū)動(dòng)系統(tǒng)與伺服舵機(jī)開展了辨識(shí)實(shí)驗(yàn)研究,獲取了相應(yīng)的傳遞函數(shù)模型,并進(jìn)行了時(shí)域驗(yàn)證。(4)進(jìn)行陸空車輛懸停工況下的角動(dòng)態(tài)多通道模型辨識(shí)實(shí)驗(yàn)。首先結(jié)合陸空車輛角動(dòng)態(tài)運(yùn)動(dòng)通道的單通道的機(jī)理模型結(jié)構(gòu),采用頻域辨識(shí)理論對(duì)其簡(jiǎn)化傳遞函數(shù)模型進(jìn)行的參數(shù)估計(jì)辨識(shí),為多通道辨識(shí)提供初值依據(jù)。然后考慮通道之間的耦合關(guān)系,進(jìn)行雙通道狀態(tài)空間模型的辨識(shí)研究,獲取了雙通道狀態(tài)空間模型,并依據(jù)該模型結(jié)構(gòu)辨識(shí)得到機(jī)理線性化模型中待定參數(shù),并對(duì)獲取的辨識(shí)模型進(jìn)行時(shí)域驗(yàn)證。最后,對(duì)全文研究進(jìn)行了總結(jié),并提出了需進(jìn)一步研究的方向。
[Abstract]:Ground-air vehicle is a kind of multi-purpose integrated vehicle with the ability of land driving and air cruising. It can be widely used in military and civil fields because of its good adaptability to various environments. The flight control of land and air vehicles needs to be designed and developed on the precise aerodynamics model of land and air vehicles. Therefore, accurate modeling technology is the basic work for the research of ground and air vehicle flight control, and even the realization of autonomous flight and related experimental research. In order to obtain an accurate and reliable aerodynamics model of land and air vehicles, the following research work has been carried out in this paper: (1) the structure and working principle of vertical double culvert land and air vehicles are introduced. The mechanism of the driving system of land and air vehicle is analyzed, and the transfer function model from the control signal to the speed output of the propeller is obtained. The nonlinear dynamic equations of land and air vehicles are obtained by combining the blade element theory, the commonly used aerodynamic calculation theory and the Newtonian Euler rigid body motion equation. Then the obtained nonlinear equations are linearized with small disturbance at the hovering working point, and the state space equation model of the dynamic channel of the vehicle angle is established. (2) based on the frequency domain identification theory, In this paper, the scheme design of the identification experiment of land and air vehicle model is carried out, and the corresponding data acquisition software is designed. (3) the identification experiment of brushless DC motor driving system and servo steering gear is carried out, and the corresponding transfer function model is obtained. The time domain verification is carried out. (4) the angular dynamic multi-channel model identification experiment is carried out under the hovering condition of land and air vehicles. Firstly, combining the mechanism model structure of single channel of the angle dynamic moving channel of land and air vehicle, the paper uses the frequency domain identification theory to estimate the parameters of the simplified transfer function model, which provides the initial value basis for the multi-channel identification. Then considering the coupling relationship between the channels, the identification of the two-channel state space model is studied, and the two-channel state space model is obtained. According to the structure identification of the model, the undetermined parameters in the linearized mechanism model are obtained. The obtained identification model is verified in time domain. At last, the paper summarizes the research and puts forward the direction of further research.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V271;U469

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本文編號(hào)：2127560