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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