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针对小型无人直升机具有多变量、非线性和强耦合的特点,提出一种基于参数辨识的横纵向通道动力学建模方法。该方法根据直升机小扰动运动学方程和小型无人直升机空气动力学特点,推导了小型无人直升机横纵向通道动力学模型。在悬停条件下通过对模型进行简化,得到小型无人直升机横纵向通道待辨识线性耦合模型。根据飞行实验数据,通过采用多变量最小二乘方法估计出该耦合模型的未知参数。模型预测数据和实际飞行数据的比较结果表明,所建模型能充分反映该小型无人直升机在悬停状态下的横纵向通道动力学特性,具有较高精度且结构相对简单,可作为自主飞行控制器设计的参考模型。
Aiming at the characteristics of small unmanned helicopter with multivariable, nonlinear and strong coupling, a method of dynamic modeling of transverse and longitudinal channels based on parameter identification is proposed. According to the kinetic equation of helicopter small perturbation and aerodynamics characteristics of small unmanned helicopter, this method derives the dynamic model of transverse and longitudinal channel of small unmanned helicopter. Under the condition of hovering, the model is simplified to obtain the linear coupled model of small unmanned helicopter to be identified by transverse and longitudinal channels. According to the flight experimental data, the unknown parameters of the coupled model are estimated by using multivariate least squares method. The comparison between the model predictive data and the actual flight data shows that the model can fully reflect the dynamic characteristics of the horizontal and vertical channels of the small unmanned helicopter in the hovering state with high precision and relatively simple structure and can be used as autonomous flight control Reference Design Model.