CN102566446A - Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group - Google Patents

Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group Download PDF

Info

Publication number
CN102566446A
CN102566446A CN2012100128947A CN201210012894A CN102566446A CN 102566446 A CN102566446 A CN 102566446A CN 2012100128947 A CN2012100128947 A CN 2012100128947A CN 201210012894 A CN201210012894 A CN 201210012894A CN 102566446 A CN102566446 A CN 102566446A
Authority
CN
China
Prior art keywords
linear
flight
envelope
full
trim
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2012100128947A
Other languages
Chinese (zh)
Other versions
CN102566446B (en
Inventor
尹亮亮
孙春贞
祖家奎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201210012894.7A priority Critical patent/CN102566446B/en
Publication of CN102566446A publication Critical patent/CN102566446A/en
Application granted granted Critical
Publication of CN102566446B publication Critical patent/CN102566446B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a method for establishing a full-envelope mathematical model of an unmanned helicopter based on a linear model group. A test flight identification linear model is taken as a basis, motion characteristics in a flight envelope interval can be approximately characterized through a linear model at each working point, so that dynamic characteristics of the unmanned helicopter in a full-envelope range are characterized by a group of linear models. The establishing method comprises the following steps of: dividing the flight envelope interval, resolving the models, correcting the models and adding air for the models so as to realize the characteristics similar to those of nonlinear models. The method has high model confidence, high real-time property, simple implementation process and short development cycle, and is suitable for a miniature low-cost unmanned helicopter.

Description

The full envelope curve mathematical model of depopulated helicopter construction method based on the linear model group
Technical field
The present invention relates to a kind of construction method of depopulated helicopter mathematical model, the full envelope curve mathematical model of particularly a kind of depopulated helicopter based on linear model group construction method belongs to depopulated helicopter modeling field.
Background technology
The depopulated helicopter movement mechanism is extremely complicated, is difficult to set up mathematical model accurately through the modelling by mechanism method, and modelling by mechanism method model order is high, and complex algorithm is difficult to satisfy the requirement of real-time.The identification modeling of taking a flight test is a kind of emerging modeling means, and it is through carrying out flight test, and the utilization system identifying method obtains the mathematical model of depopulated helicopter.Compare the modelling by mechanism method, the identification modeling of taking a flight test can obtain low order and mathematical model very accurately.But the identification modeling of taking a flight test can only obtain the linear model at place, a working point, and this model can be used for plant characteristic analysis, CONTROL LAW DESIGN, flight quality analysis, but can not be used for whole process simulation.And whole process simulation is a kind of necessary checking means in engineering research, through whole process simulation, can under the state of ground, steering logic, robustness, the reliability to flight control system comprehensively check.And full envelope curve mathematical model is the basis of whole process simulation.
Summary of the invention
In order to solve the limitation that the identification model of taking a flight test can't be used for whole process simulation; The invention provides the full envelope curve mathematical model of a kind of depopulated helicopter construction method based on the linear model group; Linear model through with a plurality of working points carries out integrated; Obtain the mathematical model of full envelope curve, to satisfy the demand of whole process simulation.
The technical solution adopted for the present invention to solve the technical problems is:
The full envelope curve mathematical model of a kind of depopulated helicopter construction method based on the linear model group; It is characterized in that being the basis with the identification model of taking a flight test, with the flight envelope of depopulated helicopter be divided into m * n interval, m, n are natural number; The dynamic perfromance of depopulated helicopter is similar to sign with a linear model in each flight envelope interval; Cover whole flight envelope through one group of linear model, and this group linear model is carried out the full dose state resolve, to astable state of flight this group linear model is revised again; And this group linear model added wind, thereby obtain the mathematical model in the full envelope curve scope.
Identification model has very high precision owing to take a flight test; Therefore the mathematical model that makes up with the inventive method can reflect the dynamic perfromance in the full envelope curve scope very exactly; Because model adopts linear mode to realize, so operand is little, is very easy to requirement of real time.This method implementation procedure is simple, and the construction cycle is short, is fit to the small low-cost unmanned helicopter system and uses.
Description of drawings
Fig. 1 is that flight envelope is divided synoptic diagram
Fig. 2 is a linear model group schematic diagram
Fig. 3 is that the linear model group is resolved flow process
Fig. 4 is the coordinate turn schematic diagram
Fig. 5 adds the wind schematic diagram
Embodiment
The full envelope curve mathematical model of depopulated helicopter based on the linear model group of the present invention construction method is the basis with the identification model of taking a flight test; The flight envelope of depopulated helicopter is divided into m * n interval; M, n are natural number, and the dynamic perfromance in each flight envelope interval is similar to sign with a linear model.Like this,, can cover whole flight envelope, thereby obtain the mathematical model in the full envelope curve scope through one group of linear model.Identification can only be carried out under stabilized flight condition owing to take a flight test, and therefore can only be hovered or put down to fly the linear model under the state, has and the similar characteristic of nonlinear model in order to make the linear model group, also need revise model.Simultaneously, in order to satisfy the demand of emulation, need in model, add wind field information.
The inventive method comprises the steps: specifically that flight envelope interval division, model resolve, model correction and model add wind.
1, the interval division of flight envelope
The flight envelope of depopulated helicopter is by flying speed and flying height decision; Thereby its flight envelope is divided into some intervals according to flying height and air speed; As shown in Figure 1, height is at interval with 200m in this embodiment, and air speed is to carry out the interval division of flight envelope at interval with 5m/s.In each flight envelope interval, get its intermediate point as the feature work point, its kinetic model of identification comprises A, B battle array, trim input and trim condition.Because air speed is bigger to the influence of depopulated helicopter kinetic characteristic, therefore should be intensive relatively to the division of air speed.
2, model resolves
Linear model is the microvariations model under the particular flight state, be to resolve with the form of increment, and the input and output of nonlinear model all is full dose.The linear model group will realize and the nonlinear model identical functions, must the input and output of model all be changed into full dose.
The principle of linear model group is as shown in Figure 2, and wherein u is the full dose input, and x is the full dose state, and u_trim is the input of the trim under the current flight state, and x_trim is the trim condition under the current flight state.Δ u is the input increment, and Δ x is a state increment, and A, B are respectively state matrix and the input matrix in the corresponding envelope curve of the state of flight interval.U_trim wherein, x_trim, A, B can obtain through the identification of taking a flight test.Can find out that model is inner resolves and all be based on increment, and the input and output of model all are full doses.
Model to resolve flow process as shown in Figure 3, according to trim input u_trim, trim condition x_trim and A, the B battle array of current air speed and high computational current state; Model full dose input u deducts trim input u_trim can obtain importing increment Delta u, and model full dose state x deducts trim condition x_trim can obtain state increment Δ x; Input increment and state increment resolve through state equation; Rate of change the state variation rate that can obtain state increment is next state increment Δ x constantly through a differential equation iteration; The trim condition x_trim that adds this trim point promptly obtains next full dose state x constantly; Resolve according to the full dose state and to obtain model output, supply sensor assembly to use.
What more than describe is that the linear model group is from being input to the complete calculation process of output.Can find out that the linear model group all need be used trim input, trim condition and A, the B battle array of current flight state drag in each iterative process.How trim input, trim condition and A, the B battle array of computation model are main points that make up the linear model group.
1) trim input and trim condition
Interval according to the envelope curve of dividing; Obtained the linear model of depopulated helicopter under specific air speed and height condition; The trim input and the trim condition that wherein comprise each state point; According to these data, but go out the trim input and the trim condition of full envelope curve scope inner model according to air speed and height interpolation calculation.
2) A, B battle array
A, B battle array are the Disturbance Model of helicopter at trim point place, have reflected the dynamic perfromance of helicopter.And when variation by a small margin took place for flying height and air speed, big variation can not take place in the dynamic perfromance of helicopter.Therefore can think that it is interval that a pair of A, B battle array can cover certain envelope curve.Interval according to the envelope curve of dividing, corresponding with it A, a B battle array is all arranged in each interval, when model resolves, can confirm that according to air speed and height the present located envelope curve is interval, can confirm corresponding A, B battle array.
3, model correction
Identification can only be carried out under stabilized flight condition owing to take a flight test; Therefore the linear model of linear model group use is the stable flat model under state and the sustained hover that flies; And residing some state of flight of depopulated helicopter is not a stabilized flight condition, as tiltedly climbing, tiltedly decline, turning in hover, vertical uplift, vertically descending and coordinate turn etc.Therefore be necessary reasonably to revise to these states.
More than in the flight mode, the difference during coordinate turn between linear model group and the nonlinear model is maximum, and under other flight mode, the two difference is less relatively, therefore is primarily aimed at coordinate turn mode the linear model group is revised.
The movement mechanism of coordinate turn is as shown in Figure 4; When depopulated helicopter gets into coordinate turn mode, at first set up roll angle through handling horizontal feathering, centripetal force is provided; Through handling tail-rotor apart from producing yawrate, when below roll angle and yawrate are satisfied, concerning:
Helicopter gets into the coordinate turn equilibrium state, at this moment, no longer needs primary control surface to produce additional moment.Wherein g is an acceleration of gravity, and φ is a roll angle, V dBe ground velocity, Be the crab angle rate of change.Through understanding, can draw to draw a conclusion the trim condition of coordinate turn to coordinate turn:
1) certain trim roll angle
2) certain trim yawrate
3) trim roll angle and trim yawrate satisfy above equilibrium relation
4) be almost 0 because of the additional trim rudder face that produces of turning
Utilize these characteristics of coordinate turn, can revise, match the relation between yawrate and the roll angle when main the linear model group.Flat flying under the state, trim roll angle adopt following method to calculate:
φ trim=φ trim(V t,H)
V wherein tBe air speed, H is a flying height, φ TrimBe the trim roll angle, Be trim crab angle rate of change, φ Trim(V t, be H) by air speed and highly definite trim roll angle, according to air speed V tObtain with flying height H interpolation calculation.And to coordinate turn mode, because the existence of yawrate has produced additional trim roll angle.Therefore trim is revised as follows to roll angle
Wherein For by ground velocity V dWith the crab angle rate of change The trim roll angle of confirming.Like this, the linear model group just can get into equilibrium state under fixing roll angle and yawrate, carry out coordinate turn, and:
Can directly use yawrate R to be similar to crab angle rate of change and make computational short cut.Because the dynamic perfromance of yawrate is stronger, even fly also bigger yawrate possibly occur under the state, calculate if directly use yawrate to carry out the trim value flat, can directly cause the trim value to be in dither state always, even cause dispersing.In order to distinguish flat fly state and turn condition, yawrate is used further to trim calculating after must passing through LPF.Like this, yawrate trim and roll angle trim are steady-state value under coordinate turn mode, and fly to be almost 0 under the state flat.Model can be simulated the motion of nonlinear model coordinate turn basically through after revising.
4, model adds wind
In order to check the adaptive faculty of depopulated helicopter, require to add wind field information in the mathematical model to wind field.The inner state of linear model resolves and all is based on air speed, adds behind the wind field main influence with respect to the speed of big ground level, and then influences ground velocity, position, flight path etc.It is as shown in Figure 5 to add the wind principle, V BBe body axis system air velocity vector, V DBe the earth axes ground vector, Wind is that ground is wind vector, then satisfies:
V B=(V D-Wind)·T B
V D=V B·T D+Wind
T wherein BGround coordinate is tied to the transition matrix of body axis system, T DBe the transition matrix of body axis system to earth axes.This method can realize the dynamic adding of wind field information.

Claims (4)

1. the full envelope curve mathematical model of the depopulated helicopter based on linear model group construction method; It is characterized in that being the basis with the identification model of taking a flight test; The flight envelope of depopulated helicopter is divided into an interval; , are natural number; The dynamic perfromance of depopulated helicopter is similar to sign with a linear model in each flight envelope interval; Cover whole flight envelope through one group of linear model; And this group linear model is carried out the full dose state resolve; To astable state of flight this group linear model is revised again; And this group linear model added wind, thereby obtain the mathematical model in the full envelope curve scope.
2. the full envelope curve mathematical model of the depopulated helicopter based on the linear model group according to claim 1 construction method is characterized in that the interval division of flight envelope is a foundation with height and air speed.
3. the full envelope curve mathematical model of the depopulated helicopter based on the linear model group according to claim 1 construction method; It is characterized in that the full dose state resolves inner the resolving of model in the process and all is based on incremental form, and the input and output of model all are the full dose forms.
4. the full envelope curve mathematical model of the depopulated helicopter based on the linear model group as claimed in claim 1 construction method is characterized in that astable state of flight is a coordinate turn mode.
CN201210012894.7A 2012-01-16 2012-01-16 Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group Expired - Fee Related CN102566446B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210012894.7A CN102566446B (en) 2012-01-16 2012-01-16 Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210012894.7A CN102566446B (en) 2012-01-16 2012-01-16 Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group

Publications (2)

Publication Number Publication Date
CN102566446A true CN102566446A (en) 2012-07-11
CN102566446B CN102566446B (en) 2014-05-14

Family

ID=46412099

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210012894.7A Expired - Fee Related CN102566446B (en) 2012-01-16 2012-01-16 Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group

Country Status (1)

Country Link
CN (1) CN102566446B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103809433A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite root locus multi-stage PID robust controller for multi-loop model cluster of aircraft
CN104391364A (en) * 2014-11-26 2015-03-04 深圳市鸣鑫航空科技有限公司 Optical cable laying based coaxial double-rotor-wing unmanned helicopter parameter identification test system
CN104503258A (en) * 2014-11-26 2015-04-08 深圳市鸣鑫航空科技有限公司 Coaxial double-rotor unmanned helicopter modeling method based on optical cable laying
CN104035338B (en) * 2014-05-21 2016-08-31 中国人民解放军空军航空大学军事仿真技术研究所 A kind of emulation mode of multiengined helicopter dynamical system Dynamic Matching
CN107783543A (en) * 2017-11-06 2018-03-09 贾杰 A kind of depopulated helicopter Loop analysis full envelope flight control method
CN109781107A (en) * 2017-11-15 2019-05-21 北京自动化控制设备研究所 A kind of low precision inertial navigation roll angle determines method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090171634A1 (en) * 2005-12-06 2009-07-02 Airbus Deutschland Gmbh Method for Reconstructing Gusts and Structural Loads at Aircraft, in Particular Passenger Aircraft
CN102023640A (en) * 2010-11-23 2011-04-20 北京航空航天大学 Selection method of nominal design point in flight envelope
CN102073755A (en) * 2010-11-10 2011-05-25 南京航空航天大学 Motion control simulation method for near-space hypersonic aircraft

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090171634A1 (en) * 2005-12-06 2009-07-02 Airbus Deutschland Gmbh Method for Reconstructing Gusts and Structural Loads at Aircraft, in Particular Passenger Aircraft
CN102073755A (en) * 2010-11-10 2011-05-25 南京航空航天大学 Motion control simulation method for near-space hypersonic aircraft
CN102023640A (en) * 2010-11-23 2011-04-20 北京航空航天大学 Selection method of nominal design point in flight envelope

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
周志久等: "飞行器全包线控制律算法实现及仿真", 《计算机测量与控制》, vol. 17, no. 1, 25 January 2009 (2009-01-25), pages 120 - 123 *
黄一敏等: "直升机多模态控制律的全飞行包线设计", 《飞行力学》, vol. 18, no. 3, 30 September 2000 (2000-09-30), pages 26 - 29 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103809433A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite root locus multi-stage PID robust controller for multi-loop model cluster of aircraft
CN103809433B (en) * 2014-02-28 2016-06-15 西安费斯达自动化工程有限公司 The multistage PID robust Controller Design method of aircraft multiloop model bunch compound root locus
CN104035338B (en) * 2014-05-21 2016-08-31 中国人民解放军空军航空大学军事仿真技术研究所 A kind of emulation mode of multiengined helicopter dynamical system Dynamic Matching
CN104391364A (en) * 2014-11-26 2015-03-04 深圳市鸣鑫航空科技有限公司 Optical cable laying based coaxial double-rotor-wing unmanned helicopter parameter identification test system
CN104503258A (en) * 2014-11-26 2015-04-08 深圳市鸣鑫航空科技有限公司 Coaxial double-rotor unmanned helicopter modeling method based on optical cable laying
CN104391364B (en) * 2014-11-26 2017-06-09 深圳市鸣鑫航空科技有限公司 Coaxial double-rotary wing depopulated helicopter parameter identification pilot system based on fiber cable laying
CN104503258B (en) * 2014-11-26 2017-06-16 深圳市鸣鑫航空科技有限公司 Coaxial double-rotary wing depopulated helicopter modeling method based on fiber cable laying
CN107783543A (en) * 2017-11-06 2018-03-09 贾杰 A kind of depopulated helicopter Loop analysis full envelope flight control method
CN109781107A (en) * 2017-11-15 2019-05-21 北京自动化控制设备研究所 A kind of low precision inertial navigation roll angle determines method

Also Published As

Publication number Publication date
CN102566446B (en) 2014-05-14

Similar Documents

Publication Publication Date Title
CN102566446B (en) Method for establishing full-envelope mathematical model of unmanned helicopter based on linear model group
CN106778012B (en) A kind of small feature loss attachment detection descending trajectory optimization method
CN102073755B (en) Motion control simulation method for near-space hypersonic aircraft
CN104392047B (en) Quick trajectory programming method based on smooth glide trajectory analytic solution
CN106933104B (en) Hybrid control method for attitude and position of four-rotor aircraft based on DIC-PID
CN103412488A (en) Small-sized unmanned rotary-wing aircraft high-precision control method based on adaptive neural network
CN105182989B (en) A kind of aspect control method under the influence of wind field
CN102592007A (en) Method for modeling unmanned aerial vehicle object model for parameter adjustment of flight control law design
CN104881510B (en) A kind of lifting airscrew/tail-rotor aerodynamic interference numerical value emulation method
CN105242679A (en) Method for designing control system of four rotor aircraft
Mendina et al. A general purpose parallel block structured open source incompressible flow solver
CN109614633A (en) A kind of composite rotor craft non-linear modeling method and Calculate Ways
CN105116914A (en) Stratospheric-airship-analytic-model-based prediction path tracking control method
CN104965515A (en) Attitude control method for propeller unmanned drone aircraft based on adaptive control
CN102654772A (en) Track dip angle inversion controlling method of aircraft based on control force limitation situation
CN104504294A (en) Flight simulation original state compound genetic balancing method
CN107145161A (en) Unmanned plane accesses the path planning method and device of multiple target point
CN104091003B (en) Finite element modeling method of large-deformation responses of flexible shell structures during basic movement
CN109446582A (en) A kind of high-precision depression of order considering earth rotation steadily glides dynamic modeling method
CN104536448A (en) Backstepping based control method for unmanned-plane attitude system
CN106483967A (en) A kind of dirigible angle of pitch antihunt means measured based on angular velocity information with sliding formwork
CN106707790A (en) Unmanned aerial vehicle nonlinear mathematical model building method
CN106933238B (en) Method for detecting dynamic stress center position of multi-rotor unmanned aerial vehicle with symmetrical layout
Oruc et al. Towards Real-Time Fully Coupled Flight Dynamics and CFD Simulations of the Helicopter-Ship Dynamic Interface
CN103345157A (en) Unmanned aerial vehicle three freedom degree model building method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140514

Termination date: 20170116