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1、SYSTEMIDENTIFICATIONANDSIMULATIONFORAHELICOPTERUAVbyRanYaoAthesissubmittedinconformitywiththerequirementsforthedegreeofMasterofScienceatShenzhenGraduateSchoolHarbinInstituteofTechnology12,2008國內(nèi)圖書分類號：V212.4
國際圖書分類號：620工學(xué)碩士學(xué)位論文無人直升機(jī)系統(tǒng)辨識及仿真碩士研究生：姚然導(dǎo)師：朱曉蕊副教授申請學(xué)位：工學(xué)
2、碩士學(xué)科、專業(yè)：控制科學(xué)與工程所在單位：深圳研究生院答辯日期：2008年12月
授予學(xué)位單位：哈爾濱工業(yè)大學(xué)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
