Research Into Modeling And Visual Simulation Of The Helicopter Under The Limited Visual Condition

With the rapid development of society and the opening of low-altitude areas in China,helicopter is widely used in the social life.Especially in the dangerous environment such as in the rescue,with a high-performance,safe and stable helicopter is particularly important.With the increasing number of helicopters and drivers,the need to continuously improve the driver's training efficiency and flight safety and stability.At this time,the continuous development of the helicopter simulator technology for its safety,efficiency,economy and high fidelity characteristics of helicopter driver training and helicopter research and development process as a key link.In view of the above proposed to improve the flight safety and stability issues,this paper focuses on the helicopter dynamics modeling and winds,fog and other harsh environments under the helicopter landing technology.In order to improve the accuracy of the dynamic model,a complete coordinate system is established on the basis of the existing model.The modeling process of the rotor is analyzed in detail.The momentum-leaf method is used to deduce the dynamic model.Rotor lift expression,and with the ideal torsion paddle to complete the validation of the model.In the process of landing guidance of the helicopter,through the preset height,pitch angle curve,with the help of PID control technology,get the helicopter steering lever control,to guide the driver the correct operation.The main contents of the thesis include:1.Establish a mathematical model of the various parts of the helicopter.In this paper,the idea of split modeling is used to analyze the force and moment of each component in each component coordinate system,and finally through the transformation matrix to the body coordinate system.In the process of modeling the rotor,the lift expression of the rotor is deduced by analyzing and comparing the final momentum-leaf method.And then a simple analysis of the helicopter tail rotor and body model;2.Build the helicopter's equations of motion.After the force and torque generated by each component are converted to the body coordinate system,the motion equation of the helicopter is constructed according to Newton's second law.According to the modeling accuracy requirements,the fourth-order Runge-Kutta method is used to solve the whole model,and the flight attitude data of the helicopter are obtained,and the next visual simulation is paved.3.Helicopter landing guide modeling.With the help of PID technology,the height of the helicopter is preset,the pitch angle curve is obtained,and the helicopter control quantity is obtained to assist the driver to carry out the correct landing.4.Helicopter scene simulation software design.The helicopter visual simulation system was planned in detail,with Multi Gen Creator and Speed Tree software to build the visual model.Through the comparative analysis,Delta3 D is selected as the visual simulation engine,and finally the helicopter visual simulation platform is built.5.Through the helicopter flight simulator platform,the helicopter landing,horizontal flight and many other experiments,through the experimental results and simulation results were analyzed,with the help of helicopter vision system fully demonstrated helicopter position and attitude,verify the model And the lack of shortcomings in a timely manner to improve.