摘要
在考虑到偏航速率反馈系统存在的情况下,根据小型直升机的动力学原理,推导了无人直升机偏航动力学数学模型。基于所采集的飞行实验数据,采用预报误差法(PEM)辨识得到了完整的悬停状态下小型无人直升机的偏航动力学状态空间模型。并通过对实验数据的分析,建立了保真度更高的模型。对模型的校验和评估结果表明,所得到的模型能充分反映小型直升机的偏航动力学特性,结构相对简单,能作为控制器设计的参考模型。
A mathematical model of yaw dynamic of small-scale unmanned helicopter was derived based on the dynamics character when the yaw rate feedback system was considered.Then prediction error method（PEM） was utilized to identify and obtain a complete yaw dynamic state-space model using the flight experimental data.Meanwhile,a model with higher fidelity was built through analyzing the flight experimental data.The verification and evaluation results show that the obtained model reflects the characteristics of yaw dynamics of small-scale unmanned helicopter effectively with relatively simple structure,and is a good reference model for controller design.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第3期608-613,共6页
Journal of System Simulation
基金
国家863计划(2006AA04Z219
2006AA04Z258)
国家自然科学基金(60725309)
关键词
小型无人直升机
动力学建模
系统辨识
预报误差法
small-scale autonomous helicopter
dynamic modeling
system identification
prediction error method
