将小型无人直升机的动力学建模问题看作是基于输入输出数据的黑箱辨识问题,同时考虑到子空间辨识算法的快速性与鲁棒性,在获得悬停工作点附近的扫频试飞数据后,应用子空间辨识算法对无人直升机的黑箱模型进行系统辨识。基于子空间算法的系统辨识结果展现出了良好的辨识性能,并最终获得了小型无人直升机在悬停状态下的线性黑箱模型。采用新的试飞数据进行模型验证的结果表明了子空间辨识算法的有效性。 Considering the dynamics modeling problem of small unmanned helicopter as a black box identification problem based on input and output data, taking into account the rapidity and robustness of the subspace identification algorithm, obtaining the sweep test data near the hovering working point After that, we use the subspace identification algorithm to identify the unmanned helicopter black box model. The results of system identification based on subspace algorithm show a good recognition performance, and finally obtained the linear black box model of small unmanned helicopter in hovering state. The results of model validation using new test data demonstrate the effectiveness of subspace identification algorithms.