主权项 |
<b>一种</b>建立飞行器运动模型的切换方法,其特征包括以下步骤: (1) 建立飞行器运动的切换模型:<img file="2012100285204100001dest_path_image002.GIF" wi="248" he="190" />其中:<img file="2012100285204100001dest_path_image004.GIF" wi="44" he="18" />分别为沿飞行器机体轴系<img file="2012100285204100001dest_path_image006.GIF" wi="42" he="18" />轴的速度分量;<img file="2012100285204100001dest_path_image008.GIF" wi="20" he="25" />,<img file="2012100285204100001dest_path_image010.GIF" wi="20" he="26" />,<img file="2012100285204100001dest_path_image012.GIF" wi="20" he="24" />分别为沿<img file="29492dest_path_image006.GIF" wi="42" he="18" />轴的过载;<img file="2012100285204100001dest_path_image014.GIF" wi="44" he="18" />分别为滚转、俯仰、偏航角速度;欧拉角<img file="2012100285204100001dest_path_image016.GIF" wi="48" he="22" />分别指滚转、俯仰、偏航角;<img file="2012100285204100001dest_path_image018.GIF" wi="14" he="20" />为高度;<img file="2012100285204100001dest_path_image020.GIF" wi="16" he="18" />为重力加速度,当<img file="2012100285204100001dest_path_image022.GIF" wi="16" he="20" />在<img file="2012100285204100001dest_path_image024.GIF" wi="164" he="25" />附近时,取<img file="2012100285204100001dest_path_image026.GIF" wi="70" he="25" />,即滚转角与偏航角之差,<img file="2012100285204100001dest_path_image028.GIF" wi="473" he="45" />当<img file="452033dest_path_image022.GIF" wi="16" he="20" />在<img file="2012100285204100001dest_path_image030.GIF" wi="164" he="25" />附近时,取<img file="2012100285204100001dest_path_image032.GIF" wi="70" he="25" />,即滚转角与偏航角之和,<img file="2012100285204100001dest_path_image034.GIF" wi="477" he="45" />当<img file="2012100285204100001dest_path_image036.GIF" wi="42" he="22" />时,取<img file="2012100285204100001dest_path_image038.GIF" wi="85" he="45" />,即滚转角与偏航角之比在纵轴投影,<img file="2012100285204100001dest_path_image040.GIF" wi="520" he="92" />当<img file="2012100285204100001dest_path_image042.GIF" wi="41" he="22" />时,取<img file="dest_path_image044.GIF" wi="86" he="45" />,即偏航角与滚转角之比在纵轴投影,<img file="dest_path_image046.GIF" wi="513" he="91" />;(2)由<img file="dest_path_image048.GIF" wi="18" he="25" />、<img file="dest_path_image050.GIF" wi="20" he="25" />导出<img file="dest_path_image052.GIF" wi="16" he="18" />和<img file="dest_path_image054.GIF" wi="17" he="18" />。 |