文档介绍：南京航空航天大学
硕士学位论文
微小型倾转旋翼飞行器直升机模态辨识建模研究
姓名:赵滨
申请学位级别:硕士
专业:导航、制导与控制
指导教师:曹云峰
2011-03
南京航空航天大学硕士学位论文
摘要
本文针对南京航空航天大学设计的某微小型倾转旋翼飞行器,对基于系统辨识的飞行器建
模方法进行了研究。全文研究工作包括如下四个部分:
首先,建立微小倾转旋翼飞行器在直升机模态下的六自由度运动方程,并通过小扰动线性
化与纵向、横向解耦得到角速率传递函数模型,为微小型倾转旋翼飞行器的模型结构辨识提供
模型集。
其次,设计了微小型倾转旋翼飞行器地面模拟飞行实验支架及数据采集装置,用于采集微
小倾转旋翼飞行器的角速率等实验数据。
然后,设计微小倾转旋翼飞行器的辨识实验,包括输入信号的设计,采样频率及数据长度
的选择,实验数据预处理等。
最后,基于实验数据及角速率模型集,利用按损失函数定阶的方法确定角速率的优化模型
结构;利用非线性可分离的最小二乘法进行了角速率模型参数的辨识,模型验证表明该方法得
到的辨识模型准确性较高,弥补了传统辨识方法的不足。

关键词:倾转旋翼,系统辨识,最小二乘法,非线性可分离的最小二乘,辨识实验,模型结构
辨识
i
微小型倾转旋翼飞行器直升机模态辨识建模研究
Abstract
Aiming at a certain type of micro-small tiltrotor aircraft designed by Nanjing University of
Aeronautics, aircraft modeling method based on system identification is studied in this paper. Work of
the paper mainly includes 4 parts:
Firstly, the 6 DOF airframe motion equations of micro tiltrotor aircraft in helicopter mode are
built, and the angle-velocity transfer function model is determined through the small disturbance line-
arization and transverse/longitudinal decoupling, which is a reference for model structure identifica-
tion.
Secondly, Design the flight bracket for ground simulation and data acquisition device for mi-
cro-small tiltrotor aircraft,which are used to collect angle-velocity data of micro-small tiltrotor air-
craft.
Then, the identification test is designed,including design of identification input signal, choice of
Sampling frequency and length of data,identification test data pretreatment.
At last,based on test data and the class of angle-velocity model,the optimization of angle-velocity
model is obtained through the method of model structure identification; the model parameters are
identified separately by nonlinear and separable least-squar method, the model validation shows the
method gets good angle-velocity model, amend the deficiency of tradition method.

Keywords: Tiltrotor aircraft, system identification, least-s