关键词: 无人直升机, 参数辨识, 非线性, 频域辨识, 偏相干分析

Abstract:

The miniature unmanned helicopter exhibits a complex and nonlinear dynamic behavior, openloop unstable and a high degree of interaxis coupling. This paper describes a modeling method based on parameter identification for a miniature unmanned helicopter. This method combines the advantages of mechanism modeling and system identification. First, a universal parameter model of roll and pitch channels of a miniature unmanned helicopter is developed by strict mechanism derivation which explicitly accounts for the couplings of rotor, stabilizer bar and fuselage.

Key words: unmanned , helicopter,  , parameter , identification,  , nonlinear,  , frequency , identification,  , partial , coherence , analysis