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Alternative TitleModel Identification and System Component for Small-size Unmanned Helicopter
Thesis Advisor赵晓光
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword小型无人直升机 模型辨识 数据采集 Arm9 Small-size Unmanned Helicopter Model Identification Data Acquisition Arm9
Abstract小型无人直升机相对于固定翼飞机具有更高的机动性,灵活性,在军用和民用方面都有广泛的应用价值。近年来,很多研究人员致力于开发无人直升机的自动飞行控制系统,而控制系统的设计依赖于直升机的动力学模型,因而小型无人直升机的建模问题成为备受关注的研究课题。 本文围绕雷虎-60小型无人直升机的数学模型辨识问题开展研究工作。针对雷虎-60小型无人直升机的机械结构和舵机传动方式,论文首先简要介绍了直升机的主旋翼、尾翼、平尾等结构的动力学方程,并在平衡点附近线性化后得到直升机运动的状态空间模型。对这样一个含多个物理参数的多输入多输出模型,我们采用分通道辨识方法,用俯仰、倾斜、偏航和垂直通道的数学模型来近似描述直升机在平衡点附近的运动特性。 为了获得辨识数据,本文设计了以ARM9为核心处理器的数据采集系统,包括惯性导航设备(IMU)、GPS、无线发送模块、摄像头等传感器。系统采用Linux操作系统,飞行实验时,可以实时采集和存储直升机的脉冲调制控制信号(PWM)和姿态信息。基于采集到的飞行数据,利用最小二乘方法辨识出直升机俯仰、倾斜、偏航和垂直通道的近似数学模型。通过对飞行实验数据的模型验证表明,分通道数学模型可以很好反应相应通道在平衡点附近的动态特性,证明了所得模型的有效性。
Other AbstractCompared with fixed-wing aircraft, small-size unmanned helicopter is more superior in maneuverability and flexibility. It can be widely used in the military and civilian fields. In recent years, many researchers developed unmanned helicopter flight control system. As we cannot obtain the objective without getting its dynamic model, the subject of helicopter modeling has drawn much attention. This thesis focuses on the modeling of the Thunder Tiger-60 small-size unmanned helicopter. It gives a brief introduction on the dynamic model of the main rotor, tail fins and horizontal tail, and obtains linear model of the helicopter at its operating points at hover. The mathematic model of helicopter is a MIMO state equation. We study the model identification in single separated degree of freedom, including of pitch, roll, yaw and vertical channels. In order to obtain identification data, this thesis designs a data acquisition system, which employs ARM9, inertial navigation equipment, GPS, wireless transmitter module and camera sensor. Through Linux operating system, the helicopter flight data is collected and stored, such as PWM signal and body attitude information. Based on the flight data, pitch, roll, yaw and vertical channel models are identified by the least-squares method. The results of the model validation show that the separated channel model identified can predict the helicopter corresponding channel's dynamic performance at hover.
Other Identifier200528014628023
Document Type学位论文
Recommended Citation
GB/T 7714
周超. 小型无人直升机的模型辨识和系统构成[D]. 中国科学院自动化研究所. 中国科学院研究生院,2008.
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