小型无人直升机横纵向模型参数辨识方法  

Roll-Pitch Model Parameter Identification Method for Small-Size Unmanned Helicopter

作　　者：柏猛[1] 李敏花[1] 

机构地区：[1]山东科技大学电气信息系,山东济南250031

出　　处：《控制工程》2013年第2期276-279,共4页Control Engineering of China

基　　金：山东省自然科学基金(ZR2011FQ022)资助项目;山东科技大学"春蕾"计划(2010AZZ049)

摘　　要：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。A parameter identification method for roll-pitch dynamic model is proposed to solve the problem of modeling roll and patch dynamics of small-size unmanned helicopter （SUH） with muhivariable, nonlinear and strong coupling characteristics. A roll-pitch dy namic model is derived based on the small disturbance motion equations of helicopter and the dynamic features of SUH. The dynamic model is simplified on the hover condition, and a roll-pitch coupling identification model of hovering SUH is deduced. The muhivariable least square method is adopted to estimate the unknown parameters in the coupling model based on flight experimental data. Comparing results between the model output and the collected flight data indicate that the parameterized model could reflect the roll and pitch dy namics of SUH at hover state sufficiently. The parameterized model of SUH has relatively simple structure with high parameter identifi cation precision, and is a good reference model for flight control system desizn.

关 键 词：小型无人直升机 小扰动运动方程 横纵向模型 多变量最小二乘 参数辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]