| Citation: | WU Meiliwen, CHEN Ming, WANG Fanget al. Identification of flight dynamics models of a small-scale unmanned helicopter in hover condition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(3): 546-559. doi: 10.13700/j.bh.1001-5965.2018.0384(in Chinese)
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In order to better study the hover dynamics characteristics of small-scale unmanned helicopter, the in-depth dynamics model analysis of linear system identification and nonlinear modeling was conducted in this paper on an 8.1 kg electric helicopter with 3-axis gyro augmentation. In the linear system identification procedure, frequency-domain identification method was adopted. Double systems were obtained by using command signals from both before and after the gyro part. In the nonlinear modeling procedure, body dynamics, rotor dynamics, and tail rotor dynamics were modeled separately. The tail rotor dynamics utilized 3-stage identification method to extract the base model, the gyro model, and the overall model. A nonlinear-linear combined modification method was decided for improving the models' performance. The results show that the 13-state high-order model has higher simulation accuracy compared with the 11-state model. The flight data of the helicopter's base model for dual system linear model has high quality in high-frequency domain, and the maximum frequency is 30 rad/s. Apart from the flapping equation parameters and tail rotor parameters, the combined modification method got 7 parameters of the nonlinear mathematical model (NMM) corrected, which fits the experimental hover data effectively.
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