The invention discloses a simulation method and device for a crossed double-rotor unmanned helicopter. The method comprises the steps: determining the induced speed of a rotor wing according to the rolling operation amount and the pitching operation amount, determining the flapping angle of the rotor wing, and then determining the lifting force, the lateral force, the backward force, the rolling torque, the rotor wing shaft torque and the pitching torque of a fuselage according to the induced speed and the flapping angle of the rotor wing; determining a resultant external force and a resultantexternal moment of the fuselage on the X axis, the Y axis and the Z axis of the fuselage coordinate system according to the lift force, the lateral force, the backward force, the rolling moment, therotor shaft torque and the pitching moment of the fuselage, and determining flight parameters of the crossed double-rotor unmanned helicopter according to the resultant external force and the resultant external moment of the fuselage on the X axis, the Y axis and the Z axis of the fuselage coordinate system. According to the scheme disclosed by the invention, the flight parameters of the crossed double-rotor unmanned helicopter can be accurately simulated.
本申请公开一种交叉双旋翼无人直升机的仿真方法及装置。该方法包括:首先根据滚转操作量和俯仰操作量确定旋翼的诱导速度,并确定旋翼的挥舞角,之后根据旋翼的诱导速度和挥舞角确定机身的升力、侧向力、后向力、滚转力矩、旋翼轴扭矩和俯仰力矩,之后根据机身的升力、侧向力、后向力、滚转力矩、旋翼轴扭矩和俯仰力矩确定机身在机体坐标系的X轴、Y轴和Z轴的合外力和合外力矩,之后根据机身在机体坐标系的X轴、Y轴和Z轴的合外力和合外力矩确定交叉双旋翼无人直升机的飞行参数。本申请公开的方案能够对交叉双旋翼无人直升机的飞行参数进行准确地仿真。
Simulation method and device for crossed double-rotor unmanned helicopter
交叉双旋翼无人直升机的仿真方法和装置
2021-02-05
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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