Modeling, system identification and validation of small rotorcraft-based unmanned aerial vehicle
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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.
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