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由于共轴直升机特有的旋翼布局引发了上下旋翼间强烈的气动干扰,采用传统的理论分析和风洞试验的方法难以获得适用于共轴直升机控制系统的飞行动力学模型.为此,设计了飞行扫频试验,根据飞行试验数据得到了悬停状态下包含共轴直升机飞行动力学模型耦合特性的非参数频率响应,运用仿生智能计算方法中的微分进化(DE,Differential Evolution)算法拟合频率响应建立了悬停状态下的共轴直升机状态空间模型.利用Cramer-Rao边界和不灵敏度的相关理论进行分析计算,说明辨识得到的参数具有较高的精度和可信度.通过比较辨识模型的输出和实际飞行数据的结果,说明辨识得到的模型能充分反映共轴直升机的飞行动力学特性,可用于飞行品质评估和飞控系统设计.
Due to the strong aerodynamic interference between the upper and lower rotors due to the unique rotor layout of the coaxial helicopter, it is difficult to obtain the aerodynamic model suitable for the control system of a coaxial helicopter by using the traditional theoretical analysis and wind tunnel test methods. For this reason, According to the flight test data, the nonparametric frequency response with the coupling characteristics of the coaxial helicopter flight dynamics model under hovering condition is obtained. The frequency response is fitted by using the differential evolution (DE) algorithm in the bionic intelligent calculation method The state space model of co-axial helicopter in hovering state is established. The analysis and calculation based on the Cramer-Rao boundary and the theory of insensitivity shows that the identified parameters have high accuracy and reliability. By comparing the output of the identification model The results show that the model can fully reflect the dynamics of the coaxial helicopter and can be used in flight quality assessment and flight control system design.