Research On Small-scaled Unmanned Helicopter Flight Dynamics Model Identification

In this thesis, the helicopter flight dynamical model identification is researched. The helicopter flight dynamical model is identified by combination of subspace identification method with PEM method.Firstly, the parameter model of helicopter is developed based on aerodynamics principal, one 14 orders of structure model of the helicopter is presented, meanwhile ,the structure of the model and some parameters to be identified are confirmed.Secondly, the algorithms of the system identification are studied. According to the characteristics of high-order model, the subspace method is applied. To improve subspace identification method, the PEM method is introduced to minimize the sensitivity of noise for the algorithm.Subsequently, the software of helicopter system identification is designed. A mix-programming method of the Visual C++ and MATLAB method is utilized according to the requirements. The functions of the helicopter system identification software are achieved by using the MATLAB engine. GUI of the system is designed by Visual C++. A flight dynamic model of an unmanned helicopter is successfully identified by using this software. The identification result is validated with multiple fly test data.Finally, the embedded system of the helicopter flight data collection is researched, according to the requirements of real-time characteristics, VxWorks is adopted as the operating system of the platform, and the Board Support Package is successfully designed. The testing results show that the BSP is stable and effective.The results indicate that the identification method presented in this thesis is valid for high order, unstable system identification.