Dynamics Analysis of Close-coupling Multiple Helicopters System
The particularity and practicality of harmony operations of close-coupling multiple helicopters indicate that the researches on it are urgent and necessary. Using the model that describes two hovering helicopters carrying one heavy load, an inertia coordinate system and body coordinate systems of each sub-system are established. A nonlinear force model is established too. The equilibrium computation results can be regarded as the reference control inputs of the flight control system under hovering or low-speed flight condition. After the establishment of a translation kinematics model and a posture kinematics model, a coupling dynamics model of the multiple helicopter system is set up. The results can also be regarded as the base to analyze stabilization and design a controller for a close-coupling multiple helicopters harmony operation system.
作 者： Zhao Zhigang Lu Tiansheng 作者单位： School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200230, China 刊 名： 中国航空学报（英文版） ISTIC 英文刊名： CHINESE JOURNAL OF AERONAUTICS 年，卷(期)： 2008 21(1) 分类号： V2 关键词： close-coupling multiple helicopters harmony operation equifibrium computation kinematics analysis dynamics analysis