An inverse-simulation problem is reformulated to exactly satisfy the kinematic constraints imposed by the prescribed trajectory. Thereby, the problem can be transformed into an index 1 differential–algebraic equation that is much more easily solvable than the higher index system of the conventional formulation. Various numerical methods which have been successfully used in the pseudo-spectral inverse-simulation techniques are adopted with some modifications to efficiently solve the resultant system. The paper proposes a formal algorithm to describe the detailed solution process. The algorithm is applied to the analyses of the vertical, slalom, and helical-turn maneuvers of Bo-105. The simulation results with both the conventional and present formulations are compared to show the numerical features of the present methods. Effects of the solution-control parameters, the aggressiveness level of a maneuver, the quality of the prescribed trajectory, and the fidelity level of the math model are thoroughly investigated. The results of applications show that the proposed algorithm is extremely robust in that solution convergence is less sensitive to the maneuver aggressiveness, the quality of the generated trajectory, and the solution-control parameters. Therefore, it can be concluded that the kinematically exact inverse-simulation techniques deserve to be a one of the promising inverse-simulation methods like the pseudo-spectral inverse-simulation techniques.

中文翻译：

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运动学精确逆向仿真技术在旋翼机主动机动分析中的应用

一个逆向模拟问题被重新表述，以精确满足由指定轨迹施加的运动学约束。因此，该问题可以转化为指数为 1 的微分代数方程，该方程比传统公式的更高指数系统更容易解决。各种已成功用于伪谱逆模拟技术的数值方法被采用并进行了一些修改，以有效地求解合成系统。论文提出了一种形式化算法来描述详细的求解过程。该算法应用于分析Bo-105的垂直、回旋和螺旋转弯机动。比较传统和现有公式的模拟结果，以显示本方法的数值特征。对求解控制参数的影响、机动的攻击性水平、规定轨迹的质量和数学模型的保真度水平进行了彻底的研究。应用结果表明，所提出的算法非常稳健，因为求解收敛对机动攻击性、生成轨迹的质量和求解控制参数不太敏感。因此，可以得出结论，运动学上精确的逆模拟技术与伪谱逆模拟技术一样，是一种很有前途的逆模拟方法。应用结果表明，所提出的算法非常稳健，因为求解收敛对机动攻击性、生成轨迹的质量和求解控制参数不太敏感。因此，可以得出结论，运动学上精确的逆模拟技术与伪谱逆模拟技术一样，是一种很有前途的逆模拟方法。应用结果表明，所提出的算法非常稳健，因为求解收敛对机动攻击性、生成轨迹的质量和求解控制参数不太敏感。因此，可以得出结论，运动学上精确的逆模拟技术与伪谱逆模拟技术一样，是一种很有前途的逆模拟方法。