Model Identification Of A Miniature Quadrotor Helicopter

Now, the miniature quadrotor helicopter becomes a hotspot for its simple structure and goodmobility, and is widely used in both field of military and civilian. To realize the accurate control ofposture trajectory of the quadrotor, an accurate model is necessary. Then, a series of researchbased X-450has been done in the following aspects.Firstly, we outline the topic of the research background and research status at home andabroad,and describe the objective and significance of identification and modeling of a miniaturequadrotor helicopter in detail.Secondly, it is the research of Theoretical modeling of miniature quadrotor helicopter. Thekinetic model is established in consideration of the character of the quadrotor, the small perturbationlinearization and the trim of the hover points have been carried on to the model. The model of themotor, which drives its flight, is also established. Then, a set of experiment is designed to identify theparameters.Thirdly, it is the research of identification experiment. To identify the miniature quadrotorhelicopter model, we use the method based of frequency domain identification, and analyze thestructure of aircraft model at the same time. The input signal, the sampling frequency, the length ofdata, data acquisition and processing method is studied deeply, as well as the filter for dataprocessing.Then, it is the research of the flight experiment. The sweep frequency experiment in hovercondition of the aircraft: the attitude reference signal is added to the roll, pitch, yaw channel of theaircraft in the form of sweep frequency, the PWM signal of input instruction and the output angularvelocity signal are collected, the collected signal is transmitted to the ground station by the wirelesscommunication device. Try the identification work on angular velocity model based on the coherenceanalysis of data above. The identification model is verified at the time domain at last.Finally, summarize and outlook the research work.