资源描述:
《无人直升飞机控制系统》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、!43"!5#!"#$$%(!"#)Vol.43No.52009$5%JournalofZhejiangUniversity(EngineeringScience)May2009DOI:10.3785/j.issn.1008973X.2009.05.002jklmn^oDpqrstuv&',(",)*,+,(Z[+´µ*+N¿ª+T,Z[_`310027)=>:,
2、õðÀzñ·òóTx¬w,MGsnìðvöo{wAe¤Iòó´µTx:±ðo½´µðhðjkPoÁôõ´µöö§oõTx,R´µöWu
3、e¤Ioï÷,ôõ;Âmo¦78ð+,Áôõ´µö©moøÁä
4、ù,EÖe¤Io÷,ÞMúû;.ðo÷,è¯ðy»çõüýûD³þF°,5Ö´µöè¯ã.ÿÌõðòó´µTxo{wAe¤I,i£§uÌÂ!§sì"ßmo#Pîg÷,,£§÷,c»&s´µTxon².?@A:õðTx;òó´µ;Ae¤I;´µTx;ôõäùBCDEF:TP273;V249.1GHIJK:AGLMF:1008973X(2009)05079605犎犻犲狉犪狉犮犺犻犮犪犾犺狔犫狉犻犱犮狅狀狋狉狅犾狊狔狊狋犲犿狅犳狊犿犪犾犾狌狀犿犪狀狀犲犱犺犲犾犻犮狅狆狋犲狉HOUXin,LIPing,HANBo,FANGZhou(犇犲狆犪狉狋犿犲狀狋狅犳犆狅狀狋狉狅犾犛
5、犮犻犲狀犮犲犪狀犱犈狀犵犻狀犲犲狉犻狀犵,犣犺犲犼犻犪狀犵犝狀犻狏犲狉狊犻狋狔,犎犪狀犵狕犺狅狌310027,犆犺犻狀犪)犃犫狊狋狉犪犮狋:Ahierarchicalhybridcontrolsystemofasmallunmannedhelicopterwasdesignedbasedonthehierarchicalarchitectureandthehybridsystemtheory.Thesystemwasdividedintothreelayers:theregulationlayerconsistingofmultiplesinglemodecon
6、trollersresponsiblefordifferentflightmodesisacontinuousdynamicsystem;theactionplanninglayerperformsthetransitionofmultipleflightmodesandgivesflightreferencetrajectories;theflightschedulelayerassignsthediscreteevolutiontoexecuteanappropriateflightmode.Thehierarchicalhybridcontrolsyst
7、emwasverifiedinarectanglecruiseflightinthreedimensionalspaceonanunmannedhelicopter.犓犲狔狑狅狉犱狊:hierarchicalsystem;hybridcontrol;unmannedhelicopter;controlsystem;modetransition[3]N¼xo$Á%AIòÜ,Ae¤I&Io*+´µ;HIJ¬¿+K(tuL¨M,ïË'r()o÷,¦,ÝÁ*+、,e-¤、N´µuÌ
8、{wAe¤I÷,´µTx;[4].¸÷、/¸÷>Á¸.Ae¤InØShim,
9、õðñOÚ
10、sAIPkQT,÷,ôõ,W}Ë,C÷,¦Á0+,5¶¼!§s³ÍRS,-h4n+,£§÷,;Wang[5]!§ì"ßmo1óîg÷,,Er³Í12AMGsL¨MN(tuTõ´µTxoRS[8]3、Á·45uÌ67ÎÅÈÄoe°.£.UVºÌ,
11、ôWPIDHÛMGoAe8&&97k:o《2005-2030AITx;¤ITõ´µö£ÕsÄo¿ªu̲c.[1]gO》QxGc»á',÷,´µTxhA÷Ae¤Ihï~GwoXsg、Y¶·,ö÷Ä<=>?o@ÅÆ.8&ÓABC+ZjøÁo½½ÖTx,ijko÷,ôõ[2]DCEõFQ¨GoPID´µ£ÕAe¤±e¤Io[
12、Þc·Ð#ú5Doaz,E$%&':20080218.()*""+(!"#),-:www.journals.zju.edu.cn/eng./01:&'“863”ÏÅÆ3456G8./01(2006AA10Z204).2345:èé(1981-),;,êëìíA,BCD,EFAI´µ、Yî·µY34.Email:houxin@zju.edu.cnQRSTA:ï:,;,WX.Email:pli@iipc.zju.edu.cn(5*56,-:789:;<=>?@ABCDE797YTxôwoa.CD<=]/se¤IiзÐ#¦Ì±o^Q½ôw,)+,õðòó´µö
13、MG._`