四旋翼直升机参数动力学建模与实验辨识

L. Derafa, T. Madani, A. Benallegue
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引用次数: 129

摘要

本文介绍了四旋翼小型直升机动力学参数的实验辨识方法。将陀螺效应、气动摩擦等现象纳入建模过程,得到了一个合适的辨识和控制综合模型。在采用同一控制器的闭环系统中,对仿真系统和实际系统进行了比较。得到的结果表明,对动态模型有较好的估计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Dynamic Modelling and Experimental Identification of Four Rotors Helicopter Parameters
In this paper an experimental identification of dynamic parameters of a four rotors mini helicopter is presented. An appropriate model for identification and control synthesis is obtained via modelization procedure where several phenomena are included like gyroscopic effects, aerodynamic friction. A comparison between simulated and real system is made in closed loop system using a same controller. The obtained results show the good estimation of the dynamic model.
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