Modeling, system identification and validation of small rotorcraft-based unmanned aerial vehicle
-
摘要: 为实现超小型直升机的自动控制飞行,需建立较为精确的动力学模型.考虑机体、主旋翼/稳定杆和尾桨间的耦合对飞行动态特性的影响,建立了AF25B型超小型直升机的连续线性时不变系统模型.设计并配置了机载设备,完成在遥控飞行状态下的飞行数据采集与存储.通过时域系统辨识方法,辨识了直升机在悬停状态下的模型参数,并对辨识结果进行验证和分析,表明所建模型能充分反映该型直升机悬停状态下的动态特性.Abstract: In order to realize the flight control system of small rotorcraft-based unmanned aerial vehicles (RUAV), a precise dynamics model is needed. A time-domain system identification framework was presented for AF25B RUAV. The modeling process considered the influence of fuselage, main rotor/stabilizer bar system and coupled dynamic derivatives. Then the on-board sensor and control system were designed and configured. Based on the real flight data which gathered under the radio controlled(RC) hovering fly tests, a liner time-invariant system model was obtained through the time-domain system identification method. The identification result was analyzed and proved that model can reflect the dynamic characteristics in hovering condition fully.
-
[1] 高正,陈仁良．直升机飞行动力学[M]．北京:科学出版社,2003:1-4 Gao Zheng,Chen Renliang.Helicopter flight dynamics[M].Beijing:Science Press,2003:1-4(in Chinese) [2] 张亚欧,吕恬生,杜建福.无人直升机纵、横向姿态建模与稳定控制[J].上海交通大学学报,2007,41(1):100-103 Zhang Yaou,Lü Tiansheng,Du Fujian.The pitch and roll attitude modeling and stable control of unmanned helicopter[J].Journal of Shanghai Jiaotong University,2007,41(1):100-103(in Chinese) [3] Konstant K,Carsten D.Mechanical model and control of an auton mous small sized helicopter with a stiff main rotor //Proceedings of 2004IEEE/RSJ International Conefernce on 1ntelliegnt Robots Systems.Sandal Japan:IEEE,2004:2469-2474 [4] Bernard M,Mark Tischler,Takeo Kanade.System identification of small-size unmanned helicopter dynamics[J].Journal of the American Helicopter Society,2002,47(1):50-63 [5] Bernard M．Modeling small-scale unmanned rotor-craft for advanced flight control design ．Pittsburgh:Carnegie Mellon University,2001 [6] 杨一栋．直升机飞行控制[M]．北京:国防工业出版社,2007 Yang Yidong.Flight control for helicopter[M].Beijing:National Defense Industry Press,2007:58-64(in Chinese) [7] Bernard M,Takeo Kanade.System identification modeling of a model-scale helicopter .Report CMU-RI-TR-00-03,2000 [8] Lennart L.System identification:theory for the user[M].2nd Edition.New Jersy:Prentice Hall,Inc,1999:199-203 [9] Raymond P.Helicopter performance,stability and control[M].Boston:PWS Engineering,1986:145-149 [10] 唐永哲.直升机控制系统设计[M].北京:国防工业出版社,2000:11-13 Tang Yongzhe.Helicopter control system design[M].Beijing:National Defense Industry Press,2000:11-13(in Chinese) [11] Osman B.Verification,validation and accreditation of simulation models //Sigrún Andradóttir.Proceedings of The 29th Conference on Winter Simulation.Georgia:John Steffey,1997:135-141 -
点击查看大图
计量
- 文章访问数: 6185
- HTML全文浏览量: 309
- PDF下载量: 1751
- 被引次数: 0
下载:
