engleski

Dynamic Simulation of Helicopter Airborne Maneuvers with Numerical Integration Scheme in Lie-Group Setting

Dynamic simulation procedures of the aircraft 3D motion need robust and efficient integration methods in order to allow for reliable (and possibly real-time) simulation missions. Derivation of such integration schemes in coordinate-free Liegroup settings is especially efficient since Lie-group dynamical models operate directly on SO(3) rotational matrices and angular velocities, avoiding local rotation parameters and artificial algebraic constraints as well as kinematical differential equations. These integration features of the coordinate-free formulations should be especially beneficial for the flight vehicle simulation missions since a realization of the aircraft complex 3D maneuvers often requires numerical forward dynamics that includes complete 3D rotation domain. In such cases, the utilization of the ‘standard’ vector-space-based modeling procedures (with the local rotation parameters) leads toward kinematical singularities and re-parameterization of the rotation domain, which requires further computational burden. Along this line, a numerical integration scheme in Lie-group settings for the helicopter forward dynamics as well as inverse dynamics control problem is presented and discussed in the paper.

Lie-groups; Numerical Integration Methods; DAE systems; Helicopter Maneuvers; Inverse Dynamics Control Problem

nije evidentirano