航跡發動機 的英文怎麼說
中文拼音 [hángjīfādòngjī]
航跡發動機
英文
aeroenigine-
A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. utilizing the muir and newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. according to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文對兩輪差速驅動移動機器人的運動學及其本體緩沖設計進行了探討,在對平面運動物體運動分析的基礎上結合四種常用車輪的數學模型,推導出了一個通用的移動機器人堆積方程,在此基礎上分析了移動機器人的移動能力、並針對兩輪差速構型推導了速度正解與逆解;使用muir和newman的運動學建模方法,推導了移動機器人上點及連桿坐標系位姿、速度變換關系矩陣及求解方法;在移動機器人位姿識別方法中結合差速驅動構型對航位推演算法進行了分析:推導了一種理論精度較高的航位推算演算法,並使用matlab對其與傳統的推算演算法在跟蹤圓弧軌跡情況下進行了模擬;最後針對本文所研究的機器人給出了一種比較系統、可靠的緩沖結構設計思路,較好地解決了移動機器人作業過程中外界因素及本身設計中引入的各種不確定誤差問題;本論文研究成果已在本實驗室所開發的樣機上得到實現,經過應用與考核證明其中的分析與設計是切實可行的。The problem is then fed to a nonlinear programming routine to solve for all parameters. the flight dynamics model with yawing motion of uh - 60a is given, scale factors of state variables and control variables are applied based on the consideration of algorithm convergence. then, the optimization of trajectories is expressed as optimal control problem with a performance index constrained by helicopter performance limits, faa regulation and so on
首先,建立帶偏航運動的直升機點質量模型,然後對狀態變量和控制變量進行無量綱處理,因為狀態變量和控制變量量值相差較大,這使得優化演算法收斂效果變差,所以需要選擇適當的縮放因子,最後把直升機單臺發動機停車后的飛行軌跡表示成一個最優控制問題,即在考慮直升機性能限制和far規范后,指定一個優化性能指標,選擇合適的路徑約束,然後再解最優控制問題。
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