摘要
为实现微型直升机的自动控制飞行,需要建立其动力学模型。用神经网络和传统的微分方程难以获得适用于微型直升机控制系统的动力学模型。为此,在满足系统建模的前提假设下,设计了实验方法及测控装置。基于所获取的飞行数据,采用系统辨识的方法,建立了悬停状态下NEXUS30模型直升机的航向输出误差模型。对模型的评价结果表明,模型能充分反映微型直升机的航向动力学特性,并且结构简单,能作为设计控制系统时的参考模型。
A dynamic model of yaw movement was developed to design a yaw controller of a hovering micro helicopter. Models developed using neural networks or conventional differential equations are not suitable for the control system of a micro helicopter. Experiments with an onboard measurement system were used to develop a control system model. The experimental data was used with system indentification to develop a simple OE model of the NEXUS30 model helicopter's yaw dynamics. The resulting model accuratily reffects the yaw dynamics and is a good reference model for the yaw controller design.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第2期184-187,共4页
Journal of Tsinghua University(Science and Technology)
基金
清华大学"九八五"项目(202012-013)
