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Phenomenon and Control of Pendulum in Single Rotor Helicopter with Ducted Fan

JIANG Jin-zhe(College of Automation & Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China)  
The single rotor autonomous helicopter with ducted fan adopts the axial symmetrical layout.Thus,the phenomenon of this autonomous helicopter whose fuselage circles the rotor hub to swing,is one kind of symmetrical two-dimensional pendulum with variable suspension point,and characterized as a non-linear,strong-coupling,high order,unstable system.Establish the several degrees-of-freedom model of this pendulum by using the Lagrange equations,and the model is linearized at the balance state.Then,linear quadratic optimal regulator(LQR) is designed for this model to make balancing and positioning control goals realized under any disturbance.
【CateGory Index】: TP273
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