直昇機模型及動態調整之研究｜國立臺灣科技大學博碩士論文系統

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研究生：	康稚暘 Jhih-yang Kang
論文名稱：	直昇機模型及動態調整之研究 Study on Simulation and Motion cue for Helicopters
指導教授：	蘇順豐 Shun-Feng Su
口試委員:	王偉彥 none 林進燈 none 鍾聖倫 Sheng-Luen Chung
學位類別：	碩士 Master
系所名稱：	電資學院 - 電機工程系 Department of Electrical Engineering
論文出版年：	2005
畢業學年度：	93
語文別：	英文
論文頁數：	55
中文關鍵詞：	直昇機模型、動作調整
外文關鍵詞：	model of Helicopter, motion cue
相關次數：	點閱：156 下載：2
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摘要

動作調整是為了在有限的資料以及資訊之下，推導出較多的結果，但是結果又不失其正確性•
為了訓練飛行員，我們將所要的練習得對象，如汽車或是飛機，模型以數學是表示，在經由史都華平台等裝置，來重建人類在移動狀態的身體感受，進而讓駕駛可以在模擬器中得到最真實的感受•
我們以成大所提供山貓直昇機的模型，我們將他改為C++的程式，並且和原來的結果相印證•我們在模型上加上了我們所設計的控制器，並且經過了驗證，找出了控制器的範圍•
因為直昇機有許多不同的機型，但是因為不同的飛機，有許多不同許多參數，無法得到，所以我們需要找到一種方法來得到新的飛機參數•
MOTION CUE 是一個需要經驗的調整工作，我們提出了以CONVOLUTION，和KALMAN FILTER的方法來預測，及動作調整•

Abstract

In this thesis, the Lynx helicopter model provided by a research tem of ChengKong University is used as the prototype for developing a helicopter simulation model. The original system is coded in the Matlab environment and can only be simulated for a certain snapshot. In our study, we re-coded the system by C++ and by including the Runge-Kutta numerical approach, the system can be simulated for a period of time. Simple controllers are also designed to stabilize the system. Through verification, the ranges of the controller are then obtained for feasible simulation. Since there are many types of helicopters and different helicopters have different parameters, in order to simulate different helicopters, we need a way of generating different flight characteristics for different helicopters. Motion cue is a way of transforming motion. Thus, in this study, we also developed a motion cue transformation for tuning flight characteristics. A convolution approach for tuning flight characteristics is proposed in our study. The Kalman filter is also adopted to estimate motion beyond the boundaries of the used controller ranges. Simulation results show effectiveness of the proposed approaches.

Content

Chinese abstract…………………………………………………………………i
English abstract…………………………………………………………………ii
誌謝.................................................................................................................iii
Content……..…………………………………………………………………...iv
Figure list……………………………………………………………………...vi

Chapter 1  Introduction
1-1 Research background and motivations………………………………............1
1-2 Thesis Organization………………………………………………….............2
Chapter 2  Helicopter Model and Controller Design
    2-1 Helicopter Model………………………………………………………….....3
    2-2 Helicopter Control………………………………………………………...…4
    2-3 Dynamic Models of Helicopters…………………………………………..…7
    2.3 The Structure of Simulation of Helicopter………………………..9
    2-4 Helicopter Controller Design……………………………………………….11
2-4-1 Design Basis………………………………………………………...11
2-4-2 Design of Collective Pitch Controllers……………………………...12
2-4-3 Design of Vertical and Horizontal Cyclic Pitch Control…………....16
2-5 Simulation Results of Using Our Model……………………………………19
2-6 The limits of the controller of the helicopter……………………………….24
2-7 Run-Time Infrastructure (RTI)…………………………………………...…25
Chapter 3 Motion Cue
    3-1 Introduction of motion cue………………………………………………….31
3-2 Using Simple Scaling in Motion Cue……………………………………....33
3-3 Using Convolution in Motion Cue………………………………………….37
Chapter 4  Using Kalman Filter for Unbounded Input
    4-1 Unbounded Input and Kalman filter……………………………………..…43
4-2 simulation results………………………………………………………...…46
Chapter 5 Conclusions and Future Work……………………………………………..50

Reference…………………………………………………………………………..…52


















Figure List

Figure 2-1 Bamboo dragonfly…………………………………………………………3
Figure 2-2 The basic movement mode of helicopters………………………………....4
Figure 2-3 Cyclic pitch controls……………………………………………………….5
Figure 2-4  The main roto mechanism……………………………………………….7
Figure 2-5 Five sub-systems of helicopter…………………………………………….8
Figure 2-6  Math modele of  helicopter……………………………………………10
Figure 2-7 body coordinate system and velocities and angle speeds in three axes…..11
Figure 2-8 the free response of   in the hover state…………………...…16
Figure 2-9 The free response of   in the hover state………………………..17
Figure 2-10 The free responses of   in the hover state………………..…17
Figure 2-11 The free response of the main rotor speed in the hover state…………...17
Figure 2-12 The response of  ……………………………………………18
Figure 2-13 The response of  ……………………………………………….18
Figure 2-14 The response of  ……………………………………………19
Figure 2-15 The response of the main rotor speed…………………………………...19
Figure 2-16 the velocities of the helicopter…………………………………………..20
Figure 2-17 the angular velocities of the helicopter………………………………….21
Figure 2-18 The flight trajectory of the helicopter…………………………………...21
Figure 2-19 the velocities of the helicopter for direction following………………....22
Figure 2-20 the angular velocities of the helicopter for direction following……...…23
Figure 2-21 The flight trajectory of the helicopter for direction following………….23
Figure 2-22 HLA software component functions…………………………………….26
Figure 2-23 Software component functions……………………………………….…28
Figure 2-24 intercommunications of federates and libRTI…………………………..28
Figure 2-25 The windows of transmission of TCP/IP……………………………..…30
Figure 3-1 The process of motion cue design………………………………………..31
Figure 3-2 The motion cue design process with fuzzy models……………………....33
Figure 3-3 the red line is for  and green line is for  ……………………………34
Figure 3-4 the red line is for  and green line is for  …………………………....35
Figure 3-5 the red line is for  =1 and green line is for  =1.1…………………...36
Figure 3-6 The red line is for   and green line is for  ………………………….40
Figure 3-7 The red line is for   and green line is for  ………………………....41
Figure 3-8 The red line is for  =1 and green line is for  =1.1…………………..42
Figure 4-1 [34]Operation of KALMAN FILTER…………………………………....44
Figure 4-2 Velocity increases form 2m/s to 4m/s. The red line is the simulation result, and the green one is the estimated value…………………………………47
Figure 4-3 Velocity increases form 4m/s to 8m/s. The red line is the simulation result, and the green one is the estimated value………………………………....47
Figure 4-4 Velocity increases form 8m/s to 16m/s. The red line is the simulation result, and the green one is the estimated value………………………………....48
Figure 4-5 Velocity increases form 2m/s to 4m/s. The green line is the simulation result, and the red line is the estimated value…………………………….48
Figure 4-6 Velocity increases form 4m/s to 8m/s. The green line is the simulation result, and the red one is the estimated value…………………………….49
Figure 4-7 Velocity increases form 8m/s to 16m/s. The green line is the simulation result, and the red one is the estimated value…………………………….49


Table 2.1 decision rule base, where  ……………………………………15
Table 2-2 simulation motions and its corresponding parameters…………………….20
Table 2-3 simulation motions and its corresponding parameters while follows the flight directions……………………………………………………………22
Table 2-4 The limits of velocities and accelerations of the proposed controllers…....24
Table 3-1 The relations between motions and actuators……………………………..32

                                

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