Volume 37, Number 5, October 2019
|Page(s)||928 - 934|
|Published online||14 January 2020|
Modeling and Simulation for Multi-Rotor Fixed-Wing UAV Based on Multibody Dynamics
School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
Accurate dynamic modeling lays foundation for design and control of UAV. The dynamic model for the multi-rotor fixed-wing UAV was looked into and it was divided into fuselage, air-body, multi-rotors, vertical fin, vertical tail and control surfaces, based on the multibody dynamics. The force and moment model for each body was established and derived into the Lagrange equation of the second king by virtual work. By electing quaternion as generalized coordinate and introducing Lagrangian multiplier, the dynamic modeling was deduced and established. Finally, the comparison between the simulation results and the experimental can be found that the present dynamic model accurately describes the process of dynamic change of this UAV and lay foundation for the control of UAV.
Key words: multibody dynamics / Lagrange equation / quaternion / Lagrangian multiplier / dynamics modeling
关键字 : 多体动力学 / 拉格朗日方程 / 四元数 / 拉格朗日乘子 / 动力学模型
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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