Research On A Method Of Helicopter Flight Dynamics Modeling Based On Parameter Identification

Flight control systems is widely equipped on modern helicopters to improve its flight qualitywhose basic is high-fidelity flight dynamics model. However, building a theoretical flight dynamicmodel might be limited due to complex aerodynamic environments and strong coupled controlsystems of a helicopter. With the development of System Identification Theory, parameteridentification became an important researching field in helicopter flight dynamics modeling andgreatly promoted the development of unmanned helicopter technology.In this dissertation, methods of helicopter flight dynamic modeling are investigated based onparameter identification. Firstly, full motion equations of a quadrotor helicopter are established andequations for rotor and fuselage airloads in hover derived. Then, considering time delay character ofhybrid system, the parametric model in hover through each attitude angle channel was developed andthen trimmed in MATLAB/Simulink platform. Incorporating instrumental variables considering thecolored noise with least squares method, then parameter identification modeling of quadrotorhelicopter was conducted. At last, a model quadrotor helicopter was used as test platform for whichdata acquisition module and the experimental scheme was designed. The roll, pitch, yaw channelparameters was identified through collected input and output data. Experimental validation was thencarried out to the identified model. Based on previous work, the quadrotor helicopter control law isdesigned, controller was fabricated and further whose stability tested. The feasibility of thisidentification method and flight dynamics model was preliminary validated.