小型无人直升机建模与分析

由于小型无人直升机具有不同于大型直升机的独特特点，提出采用结构分析法推导小型无人直升机的数学模型.将小型直升机看作2个刚体（机体和主旋翼），借助Kane方法推导了小型直升机的动力学模型，并与单刚体建模进行了比较.分析表明，2种建模方法的运动学方程和平移动力学方程相同，但旋转动力学模型完全不同.采用2种刚体所建模型的响应具有余弦规律而单刚体所建模型则呈线性规律.飞行试验验证了模型的有效性.

Modeling of a Small Scale Unmanned Helicopter

Based on the analysis of the difference between small scale unmanned helicopters and normal scale helicopters, the small scale helicopter was modeled as two rigid bodies: fuselage and main tail rotor. The dynamical model was deduced by Kane method, and another model considering the helicopter as one rigid body was also deduced for comparison. It shows that the kinematics and translational dynamics are the same, but they have different rotational dynamics. The response of the dynamics modeled as two rigid body is cosine while the response of the dynamics modeled as one rigid body is linear. The real flight experiments verify the validity of the model.