三自由度直升机具有典型的欠驱动、非线性、模型不确定因素与外部干扰作用明显等特点, 作为机器人运动规划与鲁棒控制技术验证的理想平台, 近年来得到国内外知名研究机构的广泛关注。然而, 由于目前文献中缺乏完整和精确的动力学与执行机构模型, 严重制约了先进运动规划与控制算法和其他算法的全面综合对比研究. 对此, 针对测角精度有限的三自由度直升机教学与科研平台, 从多刚体系统的视角, 开展三刚体动力学建模、多通道耦合动力学参数辨识、电机- 螺旋桨升力组件特性辨识、模型线性化处理与分析、模型特性验证等全链条工作, 最终获得了可以直接服务基于模型控制设计的benchmark模型, 并从模型描述平台特性的完整性、精确性和系统性三个方面,开展了大量对比实验. 基于该benchmark模型, 设计并实验验…
☆18May 28, 2021Updated 4 years ago
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