无人直升机系统辨识及仿真

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1、SYSTEMIDENTIFICATIONANDSIMULATIONFORAHELICOPTERUAVbyRanYaoAthesissubmittedinconformitywiththerequirementsforthedegreeofMasterofScienceatShenzhenGraduateSchoolHarbinInstituteofTechnology12,2008国内图书分类号：V212.4 国际图书分类号：620工学硕士学位论文无人直升机系统辨识及仿真硕士研究生：姚然导师：朱晓蕊副教授申请学位：工学

2、硕士学科、专业：控制科学与工程所在单位：深圳研究生院答辩日期：2008年12月 授予学位单位：哈尔滨工业大学ClassifiedIndex:V212.4 U.D.C:620DissertationfortheMasterDegreeofEngineeringSYSTEMIDENTIFICATIONANDSIMULATIONFORAHELICOPTERUAVCandidate:RanYaoSupervisor:Prof.XiaoruiZhuAcademicDegreeAppliedfor:MasterofEngineer

3、ingSpecialty:ControlofScienceandEngineerAffiliation:ShenzhenGraduateSchoolDateofDefence:December,2008Degree-Conferring-Institution:HarbinInstituteofTechnologyABSTRACTUnmannedaerialvehicles(UAVs)havebeenusedwidelyinmilitaryandcivilfieldsrecently.UAVscanbedividedi

4、ntotwomaincategories:fixed-wingUAVandrotary-wingUAV.Comparedtofixed-wing,helicopterUAVhasitsspecialcharacteristics:withabilitytotakeoffandlandvertically(VTOL)andhover,alongwithmoreagility.Miniaturehelicoptersnaturallyaremoreagileandunstablethantheirfull-scalecou

5、nterpartsinflight.Developmentofareliableunmannedhelicopterrequiresalotofknowledgeaboutvehiclemodelthatcontainsnecessarydynamicsofthehelicopterintypicalflightcondition.ModelingbasedonsystemidentificationisstillachallengingworkinUAVresearch.Thispaperpresentsthedet

6、ailedprocessandresultofmodelingandsystemidentificationforanunmannedShuttleSCEADUEvolutionhelicopter.Thenonlineardynamicsisfirstlyobtainedaccordingtofirst-principles(basicaerodynamicsandphysics);thesecondisthelineardynamicequationsintheformofstate-spacethatwillbe

7、usedforsystemidentification.Nextaretheflightexperimentdesignbasedonfrequencysweepmethodandestablishmentofthefrequencyresponsedatabase.Thirdly,wewillfinishtheparametricidentificationofthehelicoptersysteminfrequencydomain.Finally,wewillverifytheresultofsystemident

8、ificationusingsimulation.Thecomparisonbetweenpredictedresponsefromthemodelandactualonefromflightexperimentisconductedtoverifytheaccuracyandreliabilityofthedynamicmode