CN106844887A - The dynamic modeling method and device of rotor wing unmanned aerial vehicle - Google Patents
The dynamic modeling method and device of rotor wing unmanned aerial vehicle Download PDFInfo
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Abstract
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of rotor wing unmanned aerial vehicle dynamic modeling method and device.The invention provides a kind of dynamic modeling method of rotor wing unmanned aerial vehicle, including：Obtain the flying quality of rotor wing unmanned aerial vehicle；Flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains corrected parameter valuation of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law；The kinetic model of the rotor wing unmanned aerial vehicle is obtained from the six degrees of freedom model by the corrected parameter valuation and flying quality.The present invention is simulated by Newton's law to rotor wing unmanned aerial vehicle, the adjustment of parameter is expressed by the dynamic characteristic to any free degree on six-freedom degree, the amendment of relevant parameter can be carried out, causes that the simulation of the dynamic characteristic of unmanned plane is more accurate on the basis of dynamic characteristic is simplified.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of rotor wing unmanned aerial vehicle dynamic modeling method and dress
Put.
Background technology
Rotor wing unmanned aerial vehicle belongs to one kind of Miniature Unmanned Helicopter, with small volume, lightweight, flying height it is low and
The advantages of mobility strong, have broad application prospects.
By the Dynamic Modeling to rotor wing unmanned aerial vehicle, the simulated flight data of rotor wing unmanned aerial vehicle can be further corrected,
So that itself and practical flight parameter match.In traditional Dynamic Modeling model, it is general using Modeling In Frequency Domain or when
Domain modeling, simple Modeling In Frequency Domain or time domain modeling more can not accurately express the dynamics of rotor wing unmanned aerial vehicle, simulation essence
Exactness is not high.
The content of the invention
The present invention more can not accurately express the dynamics of rotor wing unmanned aerial vehicle to solve existing Dynamic Modeling data
Characteristic, simulation accuracy problem not high, there is provided the dynamic modeling method and device of a kind of rotor wing unmanned aerial vehicle.
The invention provides a kind of dynamic modeling method of rotor wing unmanned aerial vehicle, methods described includes：
Obtain the flying quality of rotor wing unmanned aerial vehicle；
Flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the rotor wing unmanned aerial vehicle and determines by newton
Restrain the corrected parameter valuation in the six degrees of freedom model for building；
The rotor wing unmanned aerial vehicle is obtained from the six degrees of freedom model by the corrected parameter valuation and flying quality
Dynamic Modeling.
Further, the flying quality includes the pulse width modulation numerical value of rotor wing unmanned aerial vehicle flight output and treats
The total life of the propeller of inquiry, the flying quality of the acquisition rotor wing unmanned aerial vehicle, including：
According to the corresponding relation between the advance pulse width modulation numerical value for building and the total life of propeller, and in advance
The voltage of structure and the corresponding relation of pulse width modulation numerical value, obtain under different voltages corresponding pulse width modulation numerical value and
The total life of the propeller.
Further, the corrected parameter valuation includes power coefficient of efficiency, the flying according to the rotor wing unmanned aerial vehicle
Row data carry out parameter Estimation, obtain amendment ginseng of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Number valuation, including：
On the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, in the six degree of freedom built by Newton's law
Flying quality in model according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains power coefficient of efficiency.
Further, methods described also includes：
Obtain the wind field data that the rotor wing unmanned aerial vehicle carries out corresponding to Dynamic Modeling；
The corrected parameter valuation also includes wind field resistance coefficient, total liter of the propeller with the rotor wing unmanned aerial vehicle
On the basis of power, carried out according to the flying quality of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Parameter Estimation, obtains power coefficient of efficiency, including：
With the Eulerian angles in the flying quality, the total life of propeller, the quality of the rotor wing unmanned aerial vehicle, the rotor
The displacement of the lines of unmanned plane and the wind field data are input, and a most young waiter in a wineshop or an inn is used on the position freedom of the rotor wing unmanned aerial vehicle
Multiplication, obtains the power coefficient of efficiency and wind field resistance coefficient in the case where energy function reaches minimum value.
Further, the corrected parameter valuation includes resultant couple coefficient, the flight according to the rotor wing unmanned aerial vehicle
Data carry out parameter Estimation, obtain corrected parameter of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Valuation, including：
On the basis of the lift produced by the rotor wing unmanned aerial vehicle each propeller, it is described by Newton's law build six from
Parameter Estimation is carried out by the flying quality in degree model according to the rotor wing unmanned aerial vehicle, resultant couple coefficient is obtained.
Further, it is described on the basis of the lift of the rotor wing unmanned aerial vehicle each propeller generation, described by newton
Parameter Estimation is carried out according to the flying quality of the rotor wing unmanned aerial vehicle in the six degrees of freedom model that law builds, resultant couple system is obtained
Number, including：
With the angular speed in the flying quality, each propeller lift, rotary inertia, machine shaft to body reference axis
The distance of the distance and machine shaft of origin to body center of gravity is input, is adopted in the attitude free degree of the rotor wing unmanned aerial vehicle
With least square method, the resultant couple coefficient in the case where energy function reaches minimum value is obtained.
Present invention also offers a kind of Dynamic Modeling device of rotor wing unmanned aerial vehicle, including：
Flying quality acquisition module, the flying quality for obtaining rotor wing unmanned aerial vehicle；
Corrected parameter estimator module, parameter Estimation is carried out for the flying quality according to the rotor wing unmanned aerial vehicle, obtains institute
State corrected parameter valuation of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law；
Dynamic Modeling module, for being obtained from the six degrees of freedom model by the corrected parameter valuation and flying quality
To the kinetic model of the rotor wing unmanned aerial vehicle.
Further, the corrected parameter valuation includes power coefficient of efficiency, and the corrected parameter estimator module is further
For on the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, in the six degrees of freedom model built by Newton's law
The middle flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains power coefficient of efficiency.
Further, also include：
Wind field data acquisition module, for obtaining the wind field number that the rotor wing unmanned aerial vehicle carries out corresponding to Dynamic Modeling
According to；The corrected parameter valuation also includes wind field resistance coefficient, and the corrected parameter estimator module is further used for flying with described
The total life of Eulerian angles, propeller in row data, the quality of the rotor wing unmanned aerial vehicle, the displacement of the lines of the rotor wing unmanned aerial vehicle with
And the wind field data are input, least square method is used on the position freedom of the rotor wing unmanned aerial vehicle, obtained in energy
Function reaches the power coefficient of efficiency and wind field resistance coefficient in the case of minimum value.
Further, the corrected parameter valuation includes resultant couple coefficient, and the corrected parameter estimator module is further used
In on the basis of the lift of the rotor wing unmanned aerial vehicle each propeller generation, in the six degree of freedom mould built by Newton's law
Flying quality in type according to the rotor wing unmanned aerial vehicle carries out parameter Estimation and obtains resultant couple coefficient.
The present invention is modeled by Newton's law to rotor wing unmanned aerial vehicle, constructs the six degree of freedom for expressing its behavioral characteristics
Model, the dynamic characteristic of model simplification rotor wing unmanned aerial vehicle expresses the quantity of parameter, by any on six-freedom degree
The dynamic characteristic of the free degree expresses the adjustment of parameter, you can carry out the amendment of relevant parameter, is simplifying the base of dynamic characteristic
Cause that the simulation of unmanned plane dynamic characteristic is more accurate on plinth；Simulate based on flying quality, the ginseng in each free degree
The amendment of number valuation is separate, the relevance of the parameter estimation in each free degree is reduced, so as to further exist respectively
It is front and rear, left and right, up and down, pitching, the raising of the precision of the simulation in rolling and driftage six-freedom degree.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows and meets implementation of the invention
Example, and be used to explain principle of the invention together in specification.
Fig. 1 is the schematic flow sheet of the dynamic modeling method of rotor wing unmanned aerial vehicle in embodiment 1；
Fig. 2 is the motor setting schematic diagram of four rotor wing unmanned aerial vehicles；
Fig. 3 is the schematic flow sheet of the dynamic modeling method of rotor wing unmanned aerial vehicle in embodiment 2；
Fig. 4 is the structural representation of the Dynamic Modeling device of rotor wing unmanned aerial vehicle；
Fig. 5 is traditional power modeling and simulating result schematic diagram；
Fig. 6 is Dynamic Modeling simulation result schematic diagram of the present invention.
Specific embodiment
Here explanation will be performed to exemplary embodiment in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in implementation method do not represent and the consistent all implementation methods of the present invention.Conversely, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects being described in detail in claims, of the invention.
Embodiment 1：
As shown in figure 1, the present embodiment provides a kind of dynamic modeling method of rotor wing unmanned aerial vehicle, methods described includes：
Step 101, obtains the flying quality of rotor wing unmanned aerial vehicle.
Flying quality is various parameters of the rotor wing unmanned aerial vehicle in flight course, the including but not limited to matter of rotor wing unmanned aerial vehicle
Amount, rotary inertia, center of gravity, propeller lift, Eulerian angles, angular speed etc..Flying quality mainly includes direct access and offline
Mode obtains two ways.So-called direct access, refers to the data that can be directly read in flight course；So-called offline mode
Obtain, including by building the corresponding relational query of relation in advance, also including the measurement of some basic physicses data, for example away from
From data such as, quality.In a specific embodiment, flying quality can include but is not limited to the displacement of the lines of rotor wing unmanned aerial vehicle,
The quality of rotor wing unmanned aerial vehicle, the total life of propeller, the lift of each propeller, Eulerian angles, angular speed, around body reference axis
Rotary inertia, distance of the distance and machine shaft of machine shaft to body reference axis origin to center of gravity etc..
Eulerian angles and angular speed in flying quality can be with direct access.Specifically, Eulerian angles are obtained by gyroscope measurement
；Angular speed is obtained by the component measurement in body reference axis.
The quality of the rotor wing unmanned aerial vehicle in flying quality, the distance of machine shaft to body reference axis origin, machine shaft
To the distance of body center of gravity, around the rotary inertia of body reference axis and the lift of each propeller using the side of off-line measurement
Formula is obtained.Specifically, the quality of unmanned plane is obtained by offline weighing；Machine shaft passes through offline to the distance of body reference axis
Mode measured directly is obtained；Machine shaft can also be obtained to the distance of body center of gravity by offline mode measured directly,
The determination of center of gravity can take balance method for measuring, it is also possible to true by way of hypothesis is Chong Die with body reference axis origin
It is fixed, so as to measure；The quality that is obtained by off-line measurement around the rotary inertia of body reference axis and run-on point are to the vertical of rotating shaft
Calculated after the off-line measurement of distance and obtained；The lift of each propeller by off-line measurement blade length, pitch, oar width, turn
Adjusted by empirical coefficient after speed and atmospheric pressure and obtained.
The acquisition pattern of the total life of propeller is expanded on further.
The corresponding relation of the total life with pulse width modulation numerical value of propeller is built first.By way of off-line measurement
The total life of different PWM (Pulse Width Modulation, pulse width modulation) corresponding propellers of numerical value is determined, and
Recorded, so as to obtain the total life of propeller and the corresponding relation of pulse width modulation numerical value.
Then the different PWM count values under different voltages are measured.Specifically, by voltage range be divided into 10 equal portions or by
It is divided into 20 parts according to certain rule, PWM intervals are divided into 10 equal portions or are divided into 20 parts according to certain rule, can so measure
Different PWM values (200=10 × 20 group data) under different voltages, and record, so as to obtain, voltage is corresponding with PWM count value to close
System.
By the corresponding pass of the total life of propeller and the corresponding relation, voltage and PWM count value of pulse width modulation numerical value
System, so as to obtain the total life of the propeller under different voltages.
Step 102, the flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the rotor wing unmanned aerial vehicle and exists
Corrected parameter valuation in the six degrees of freedom model built by Newton's law.
Flight model first to rotor wing unmanned aerial vehicle simplifies, so that flight model builds more easily by Newton's law
Six degrees of freedom model is expressed, specific as follows：
(1) ignore the deformation of structure, rotor wing unmanned aerial vehicle is considered as rigid body；
(2) rotor wing unmanned aerial vehicle housing construction is full symmetric；
(3) ignore the deformation of blade, blade is considered as rigid body (being compensated by model parameter)；
(4) overlapped with body axis system in rotor wing unmanned aerial vehicle takeoff point upper ground surface coordinate system；
(5) do not consider that rotor is waved, lift (is joined to a square proportional relation for anti-twisted torque and rotor rotating speed by model
Number compensation)；
(6) effect of ground effect is not considered；
(7) lift coefficient and resistance coefficient are constant；
(8) Euler's angular speed is equal to angular speed under body coordinate system.
By after above-mentioned simplification, rotor wing unmanned aerial vehicle motion in space is believed that by space translation (along three lines of axle
Motion) and spatial rotational (around three rotations of axle) composition, you can be regarded as a rigid body for six degree of freedom (front and rear a, left side
The right side, up and down, pitching, rolling and driftage).
So-called six degree of freedom refers to position and attitude, and wherein position includes short transverse, North and South direction and east-west direction；
Attitude includes pitching, rolling, three angles of going off course.
Flying quality includes the position of the unmanned plane that sensor measurement is obtained, velocity information and attitude information, and actual
Pulse-width signal in flight course.Positional information is the skyborne position of unmanned plane, highly (upper and lower), thing (left and right),
With north and south (front and rear).Velocity information is included on three localities the information for changing speed.Attitude information includes the angle of pitch, rolling
Corner, yaw angle and rate of pitch, angular velocity in roll, and yaw rate.
Further, in an exemplary embodiment, four rotor wing unmanned aerial vehicle reference axis are set.On reference axis
Setting：Earth axes NED (north, east, down), unmanned plane body axis system：With center of gravity as origin, x-axis, y-axis will
Four motors of rotor wing unmanned aerial vehicle four are divided in different regions, and z-axis meets the right-hand rule.Assuming that body center of gravity and geometric center weight
Close.Geometric center is defined as planar central at four midpoints of electrical axis line, with center of gravity on the same plane.As shown in Fig. 2
Motor numbered counter-clockwise is respectively motor 1, motor 2, motor 3 and motor 4, and motor 1 is located at the first quartile built by x, y-axis
In.Motor 1 and motor 3 are rotated counterclockwise, and motor 2 and motor 4 are rotated clockwise.
Set according to model simplification and reference axis, line is set up in earth axes by Newton-Euller method respectively and is transported
Move equation and equation is set up in body axis system, the Mathematical Modeling expression formula for obtaining six degrees of freedom model is：
Wherein,It is the second dervative of the displacement of the lines x, y, z of four rotor wing unmanned aerial vehicles, φ, θ, ψ are Eulerian angles, and T is
The total life of propeller, Cx, Cy, CzIt is power coefficient of efficiency, m is the quality of four rotor wing unmanned aerial vehicles；
It is p, the first derivative of q, r, p, q, r are angular speed in body reference axis xb, yb, zbOn component,
Ix, Iy, IzIt is the rotary inertia around body reference axis, F1, F2, F3, F4The lift that respectively each propeller is produced, Cp, Cq, Cr
It is resultant couple coefficient, Le, LarmRespectively machine shaft is to the distance and machine shaft of body reference axis origin to body center of gravity
Distance.In the present embodiment, machine shaft to body reference axis origin distance and machine shaft to body center of gravity distance
It is identical.
The present embodiment is that by taking four rotor wing unmanned aerial vehicles as an example, method therein can be applied to six rotors, eight rotors and its
In his multi-rotor unmanned aerial vehicle.It can be seen from above-mentioned Newton-Euller method, for six rotors, eight rotors and other many rotors without
Before and after man-machine, left and right and the lift freely up and down spent not with the generation of each propeller are directly related.Produced with each propeller
The directly related free degree of lift be pitching, rolling and driftage.Therefore, by four rotor spiral shells in above-mentioned Newton-Euller method
The lift F that rotation oar is produced1, F2, F3, F4Replace with the corresponding lift F of six rotors in six rotors1, F2, F3, F4, F5, F6Or
The corresponding lift F of eight rotors in eight rotors1, F2, F3, F4, F5, F6, F7, F8Between overlaying relation.
By above-mentioned parameter substitute into six degrees of freedom model in, so as to obtain in the amendment with real data in the case of immediate
Parameter estimation.
In one embodiment, when corrected parameter valuation includes power coefficient of efficiency, can be obtained by above-mentioned Mathematical Modeling
Know, step 102 carries out parameter Estimation according to the flying quality of the rotor wing unmanned aerial vehicle, obtain the rotor wing unmanned aerial vehicle by newton
The specific embodiment of corrected parameter valuation in the six degrees of freedom model that law builds can be：
On the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, in the six degree of freedom built by Newton's law
Flying quality in model according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains power coefficient of efficiency.
Specifically, on the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, built by Newton's law described
Flying quality in six degrees of freedom model according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the specific of power coefficient of efficiency
Implementation method can be further：
With the Eulerian angles in the flying quality, the total life of propeller, the quality of rotor wing unmanned aerial vehicle and rotor nobody
The displacement of the lines of machine is input, and least square method is used on the position freedom of the rotor wing unmanned aerial vehicle, is obtained in energy function
Reach the power coefficient of efficiency in the case of minimum value.
In one embodiment, when corrected parameter valuation include resultant couple coefficient when, by above-mentioned Mathematical Modeling it is known that
Step 102 carries out parameter Estimation according to the flying quality of the rotor wing unmanned aerial vehicle, obtains the rotor wing unmanned aerial vehicle and determines by newton
Restraining the specific embodiment of the corrected parameter valuation in the six degrees of freedom model for building can be：
On the basis of the lift produced by the rotor wing unmanned aerial vehicle each propeller, it is described by Newton's law build six from
Parameter Estimation is carried out by the flying quality in degree model according to the rotor wing unmanned aerial vehicle, resultant couple coefficient is obtained.
Specifically, on the basis of the lift of the rotor wing unmanned aerial vehicle each propeller generation, described by Newton's law structure
Flying quality in the six degrees of freedom model built according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the tool of resultant couple coefficient
Body implementation method can be further：
With the angular speed in the flying quality, each propeller lift, rotary inertia, machine shaft to body reference axis
The distance of the distance and machine shaft of origin to body center of gravity is input, is adopted in the attitude free degree of the rotor wing unmanned aerial vehicle
With least square method, the resultant couple coefficient in the case where energy function reaches minimum value is obtained.
Step 103, the rotor is obtained by the corrected parameter valuation and flying quality from the six degrees of freedom model
The kinetic model of unmanned plane.
The corrected parameter valuation of the present embodiment has advantages below：The model simplification dynamic characteristic table of rotor wing unmanned aerial vehicle
Up to the quantity of parameter, the adjustment of parameter is expressed by the dynamic characteristic to any free degree on six-freedom degree, you can enter
The amendment of row relevant parameter, causes that the simulation of the dynamic characteristic of unmanned plane is more smart on the basis of dynamic characteristic is simplified
It is accurate；Based on flying quality, the amendment of the parameter estimation in each free degree is separate, reduces each free degree for simulation
On parameter estimation relevance so that further respectively in front and rear, left and right, up and down, pitching, six freedom of rolling and driftage
The raising of the precision of the simulation on degree.Last driftage angular acceleration in model with parameterFormula in, roll angle speed
The lift F that degree is produced using four propeller aircrafts1, F2, F3, F4, the parameter complexity in formula can be so reduced, improve nothing
The uniformity of man-machine system modeling.
Embodiment 2：
The flight of rotor wing unmanned aerial vehicle is simulated under conditions of the influence of disturbance of wind field is considered, using with embodiment
1 identical is assumed and coordinate system.
As shown in figure 3, the present embodiment provides a kind of dynamic modeling method of rotor wing unmanned aerial vehicle, analogy method includes：
Step 201, obtains the flying quality of rotor wing unmanned aerial vehicle.
The acquisition modes of flying quality are adopted in a like fashion with embodiment 1.
Step 202, the acquisition rotor wing unmanned aerial vehicle carries out the wind field data corresponding to Dynamic Modeling.
Wind field data refer to relatively speed of the rotor wing unmanned aerial vehicle relative to air-flow in reference axis centered on rotor wing unmanned aerial vehicle
Degree.Specifically, obtaining speed of the rotor wing unmanned aerial vehicle relative to air-flow by offline mode.Wind field data fly with rotor wing unmanned aerial vehicle
Capable coordinate is corresponded, and in any coordinate position, there is a corresponding wind field data.
It is understood that step 202 can be performed after step 201, it is also possible to performed prior to step 201, can be with
Synchronous with step 201 or intersect execution, the embodiment of the present invention is not construed as limiting.
Step 203, is the negative factor with the wind field data, according to rotation in the six degrees of freedom model built by Newton's law
The flying quality of wing unmanned plane carries out parameter Estimation and obtains corrected parameter valuation.
Wherein, corrected parameter valuation includes power coefficient of efficiency and wind field resistance coefficient.Due to examining for wind disturbance influence
Consider, the six degrees of freedom model under the influence of wind disturbance can be further built according to Newton's law, according to rotor wing unmanned aerial vehicle
Flying quality carries out parameter Estimation and obtains corrected parameter of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Power coefficient of efficiency and wind field resistance coefficient that valuation includes.
Set according to model simplification and reference axis, line is set up in earth axes by Newton-Euller method respectively and is transported
Move equation and equation is set up in body axis system, and increase wind disturbance continuous item, obtain four rotor wing unmanned aerial vehicle six degree of freedoms
The Mathematical Modeling expression formula of model is：
Wherein,It is the second dervative of the displacement of the lines x, y, z of four rotor wing unmanned aerial vehicles, φ, θ, ψ are Eulerian angles, and T is
Total lift of propeller, Cx, Cy, CzIt is power coefficient of efficiency, vx, vy, vzIt is speed of four rotor wing unmanned aerial vehicles relative to air-flow,It is wind field resistance coefficient, m is the quality of four rotor wing unmanned aerial vehicles；
It is p, the first derivative of q, r, p, q, r are angular speed in body reference axis xb, yb, zbOn component,
Ix, Iy, IzIt is the rotary inertia around body reference axis, F1, F2, F3, F4It is the lift that each propeller is produced, Cp, Cq, CrFor total
Moment coefficient, Le, LarmRespectively machine shaft to the distance and machine shaft of body reference axis origin to body center of gravity away from
From.
From formula as can be seen that the dynamic characteristic of four rotor wing unmanned aerial vehicles can be divided into six freedom by six equations above
Degree.Resultant couple coefficient C is can be seen that from above-mentioned Mathematical Modelingp, Cq, CrIt is unrelated with wind field data, do not influenceed by Wind,
Its specific acquisition methods can be with the same manner as in Example 1.And power coefficient of efficiency Cx, Cy, CzCan be influenceed by Wind, its
Coefficient magnitude and wind field data vx, vy, vzIt is relevant.
Specifically, from above-mentioned Mathematical Modeling can be seen that step 203 with the wind field data be the negative factor, by newton
Parameter Estimation is carried out according to the flying quality of rotor wing unmanned aerial vehicle in the six degrees of freedom model that law builds and obtains corrected parameter valuation
Specific embodiment can be：
With the Eulerian angles in the flying quality, the total life of propeller, the quality of the rotor wing unmanned aerial vehicle, the rotor
The displacement of the lines of unmanned plane and the wind field data are input, and a most young waiter in a wineshop or an inn is used on the position freedom of the rotor wing unmanned aerial vehicle
Multiplication, obtains the power coefficient of efficiency and wind field resistance coefficient in the case where energy function reaches minimum value.
In order to try to achieve in each free degree with practical flight data closer to analogue data, further, by fixed
The mode of adopted energy density is taken obtaining power coefficient of efficiency and the optimal of wind field resistance coefficient in the case of error e is minimum
The optimal value of value and resultant couple coefficient.Can be defined using similar mode in each free degree and be obtained with optimal value
Take.It is specific as follows：
Define the following energy function in the x frees degree：
J (e)=min { eT*e}
f2(a)=m*a-m*g
E=f1(φ, θ, ψ) * Cx-kxvx-f2(a)
By least square method, the c in the case where energy function reaches minimum value is tried to achievex, kxEstimated value be：
Wherein：
The number of measured value is n, and acceleration measurement is
Pitch angle measurement value is
Rolling angle measurement is
Yaw angle is
Height velocity's measured value is
Further, the following energy function in the y frees degree is defined：
J (e)=min { eT*e}
f2(a)=m*a-m*g
E=f1(φ, θ, ψ) * Cy-kyvy-f2 (a)
By least square method, the Cy in the case where energy function reaches minimum value is tried to achieve, the estimated value of ky is：
Wherein：
The number of measured value is n, and acceleration measurement is
Pitch angle measurement value is
Rolling angle measurement is
Yaw angle is
Height velocity's measured value is
Further, the following energy function of the z frees degree is defined：
J (e)=min { eT*e }
F2 (a)=m*a-m*g
E=f1(φ, θ, ψ) * Cz-kzvz-f2(a)
By least square method, the C in the case where energy function reaches minimum value is tried to achievez, kzEstimated value be：
Wherein：
The number of measured value is n, and acceleration measurement is
Pitch angle measurement value is
Rolling angle measurement is
Yaw angle is
Height velocity's measured value is
Further, the following energy function of the p frees degree is defined：
J (e)=min { eT*e}
By least square method, the C in the case where energy function reaches minimum value is tried to achievepEstimated value be：
Wherein：
The number of measured value is n,
By measuring angular acceleration and being converted to
The lift of four propeller generations is respectively F1, F2, F3And F4,
Further, the following energy function of the q frees degree is defined：
J (e)=min { eT*e}
By least square method, the C in the case where energy function reaches minimum value is tried to achieveqEstimated value be：
Wherein：
The number of measured value is n,
By measuring angular acceleration and being converted to
The lift of four propeller generations is respectively F1, F2, F3And F4,
Further, the following energy function of the r frees degree is defined：
J (e)=min { eT*e}
By least square method, the C in the case where energy function reaches minimum value is tried to achieverEstimated value be：
Wherein：
The number of measured value is n, and acceleration measurement is
Pitch angle measurement value is
Rolling angle measurement is
Yaw angle is
Height velocity's measured value is
Step 204, the rotor is obtained by the corrected parameter valuation and flying quality from the six degrees of freedom model
The kinetic model of unmanned plane.
By Fig. 5 it can be seen that using traditional pure theory model, the relation of model and measurement data, V (z) and Accel (z)
Speed and acceleration respectively on elevational degree of freedom.It can be seen that pure theory model can express certain acceleration accuracy, it is accurate
Degree is merely able to reach 65.38%.Speed accuracy is -700.2%, and in this case, velocity error dissipates very with time integral
Hurry up.
By Fig. 6 it can be seen that using model of the invention, the relation of model and measurement data, V (z) and Accel (z) distinguishes
It is speed and acceleration on elevational degree of freedom.It can be seen that model of the invention can express certain acceleration accuracy, accuracy
88.21% can be reached.Speed accuracy can be reached for 83.54%, and the speed and acceleration on elevational degree of freedom being capable of very great Cheng
Close to actual conditions on degree.
The present embodiment introduces wind disturbance, energy on the basis of four rotor wing unmanned aerial vehicle kinetics equations of embodiment 1
It is enough to be accurately reflected among model the influence of wind field, work out simulated program according to the model, it is possible to increase analogue system
Simulation accuracy so that analogue system is more pressed close to actual conditions.
Embodiment 3：
The present embodiment additionally provides a kind of Dynamic Modeling device of rotor wing unmanned aerial vehicle, and it is above-mentioned that the device can be used for execution
Embodiment 1 and the method any one of embodiment 2.As shown in figure 4, the device includes：Flying quality acquisition module 301,
Corrected parameter estimator module 302 and Dynamic Modeling module 303.
Flying quality acquisition module 301 is used to obtain the flying quality of rotor wing unmanned aerial vehicle；Corrected parameter estimator module 302 is used
Parameter Estimation is carried out in the flying quality according to rotor wing unmanned aerial vehicle, rotor wing unmanned aerial vehicle is obtained free in six built by Newton's law
Corrected parameter valuation in degree model；Dynamic Modeling module 303 is used to pass through corrected parameter valuation and flying quality from six certainly
The kinetic model of rotor wing unmanned aerial vehicle is obtained by degree model.
Flying quality include rotor wing unmanned aerial vehicle flight output pulse width modulation numerical value and propeller to be checked it is total
Lift, flying quality acquisition module 301 is specifically for according to the pulse width modulation numerical value and total liter of propeller for building in advance
Corresponding relation between power, and the voltage for building in advance and the corresponding relation of pulse width modulation numerical value, obtain different voltages
Under corresponding pulse width modulation numerical value and the propeller total life.
Corrected parameter valuation can include power coefficient of efficiency, and corrected parameter estimator module 302 is further used for rotor
On the basis of the total life of the propeller of unmanned plane, according to rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Flying quality carries out parameter Estimation, obtains power coefficient of efficiency.
Specifically, corrected parameter estimator module 302 is with the Eulerian angles in flying quality, the total life of propeller, the rotation
The quality of wing unmanned plane and the displacement of the lines of rotor wing unmanned aerial vehicle are input, using minimum on the position freedom of rotor wing unmanned aerial vehicle
Square law, obtains the power coefficient of efficiency in the case where energy function reaches minimum value.
After flying quality acquisition module 301 obtains the flying quality of rotor wing unmanned aerial vehicle, by corrected parameter estimator module 302
Parameter Estimation is carried out, Dynamic Modeling module 303 is applied to after obtaining corrected parameter valuation, to obtain Dynamic Modeling model.
In other examples, the device can also include wind field data acquisition module, for obtaining rotor wing unmanned aerial vehicle
Carry out the wind field data corresponding to Dynamic Modeling.
Corrected parameter valuation also includes wind field resistance coefficient, and corrected parameter estimator module 302 is further used for flight number
The total life of Eulerian angles, propeller in, the quality of the rotor wing unmanned aerial vehicle, the displacement of the lines of the rotor wing unmanned aerial vehicle and institute
It is input to state wind field data, and least square method is used on the position freedom of rotor wing unmanned aerial vehicle, and acquisition reaches in energy function
Power coefficient of efficiency and wind field resistance coefficient in the case of minimum value.
Corrected parameter valuation includes resultant couple coefficient, and corrected parameter estimator module 302 is further used for rotor wing unmanned aerial vehicle
On the basis of the lift that each propeller is produced, the flying according to rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Row data carry out parameter Estimation and obtain resultant couple coefficient.
Specifically, corrected parameter estimator module 302 is used with the angular speed in flying quality, each propeller lift, rotation
Amount, machine shaft to body reference axis origin distance and machine shaft to body center of gravity distance be input into, rotor without
Least square method is used in the man-machine attitude free degree, the resultant couple system in the case where energy function reaches minimum value is obtained
Number.
It will be understood by those skilled in the art that all or part of flow of above-described embodiment method is realized, can be by meter
Calculation machine program is completed to instruct the hardware of correlation, and described program can be stored in computer-readable recording medium.Wherein, institute
It is disk, CD, read-only memory or random access memory etc. to state computer-readable recording medium.
It should be appreciated that the invention is not limited in the precision architecture being described above and be shown in the drawings, and
And can without departing from the scope perform various modifications and changes.The scope of the present invention is only limited by appended claim.
Claims (10)
1. a kind of dynamic modeling method of rotor wing unmanned aerial vehicle, it is characterised in that methods described includes：
Obtain the flying quality of rotor wing unmanned aerial vehicle；
Flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the rotor wing unmanned aerial vehicle by Newton's law structure
Corrected parameter valuation in the six degrees of freedom model built；
The power of the rotor wing unmanned aerial vehicle is obtained from the six degrees of freedom model by the corrected parameter valuation and flying quality
Learn model.
2. method according to claim 1, it is characterised in that it is defeated that the flying quality includes that the rotor wing unmanned aerial vehicle flies
The pulse width modulation numerical value and the total life of propeller to be checked for going out, the flying quality of the acquisition rotor wing unmanned aerial vehicle, bag
Include：
According to the corresponding relation between the advance pulse width modulation numerical value for building and the total life of propeller, and build in advance
Voltage and pulse width modulation numerical value corresponding relation, obtain under different voltages corresponding pulse width modulation numerical value and described
The total life of propeller.
3. method according to claim 1 and 2, it is characterised in that the corrected parameter valuation includes power coefficient of efficiency,
The flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the rotor wing unmanned aerial vehicle by Newton's law structure
Corrected parameter valuation in the six degrees of freedom model built, including：
On the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, in the six degrees of freedom model built by Newton's law
The middle flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains power coefficient of efficiency.
4. method according to claim 3, it is characterised in that methods described also includes：
Obtain the wind field data that the rotor wing unmanned aerial vehicle carries out corresponding to Dynamic Modeling；
The corrected parameter valuation also includes wind field resistance coefficient, and the total life of the propeller with the rotor wing unmanned aerial vehicle is
Benchmark, line parameter is entered in the six degrees of freedom model built by Newton's law according to the flying quality of the rotor wing unmanned aerial vehicle
Estimate, obtain power coefficient of efficiency, including：
With the Eulerian angles in the flying quality, the total life of propeller, the quality of the rotor wing unmanned aerial vehicle, the rotor nobody
The displacement of the lines of machine and the wind field data are input, and least square is used on the position freedom of the rotor wing unmanned aerial vehicle
Method, obtains the power coefficient of efficiency and wind field resistance coefficient in the case where energy function reaches minimum value.
5. method according to claim 1, it is characterised in that the corrected parameter valuation includes resultant couple coefficient, described
Flying quality according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains the rotor wing unmanned aerial vehicle and is being built by Newton's law
Corrected parameter valuation in six degrees of freedom model, including：
On the basis of the lift of the rotor wing unmanned aerial vehicle each propeller generation, in the six degree of freedom built by Newton's law
Flying quality in model according to the rotor wing unmanned aerial vehicle carries out parameter Estimation, obtains resultant couple coefficient.
6. method according to claim 5, it is characterised in that described to be produced with the rotor wing unmanned aerial vehicle each propeller
On the basis of lift, entered according to the flying quality of the rotor wing unmanned aerial vehicle in the six degrees of freedom model built by Newton's law
Line parameter estimation, obtains resultant couple coefficient, including：
With the angular speed in the flying quality, each propeller lift, rotary inertia, machine shaft to body reference axis origin
Distance and the distance of machine shaft to body center of gravity be input, using most in the attitude free degree of the rotor wing unmanned aerial vehicle
Small square law, obtains the resultant couple coefficient in the case where energy function reaches minimum value.
7. the Dynamic Modeling device of a kind of rotor wing unmanned aerial vehicle, it is characterised in that including：
Flying quality acquisition module, the flying quality for obtaining rotor wing unmanned aerial vehicle；
Corrected parameter estimator module, parameter Estimation is carried out for the flying quality according to the rotor wing unmanned aerial vehicle, obtains the rotation
Corrected parameter valuation of the wing unmanned plane in the six degrees of freedom model built by Newton's law；
Dynamic Modeling module, for obtaining institute from the six degrees of freedom model by the corrected parameter valuation and flying quality
State the kinetic model of rotor wing unmanned aerial vehicle.
8. device according to claim 7, it is characterised in that the corrected parameter valuation includes power coefficient of efficiency, institute
State corrected parameter estimator module to be further used on the basis of the total life of the propeller of the rotor wing unmanned aerial vehicle, described by ox
Parameter Estimation is carried out according to the flying quality of the rotor wing unmanned aerial vehicle in the six degrees of freedom model that the law that pauses builds, obtaining power has
Effect coefficient.
9. device according to claim 8, it is characterised in that also include：
Wind field data acquisition module, for obtaining the wind field data that the rotor wing unmanned aerial vehicle carries out corresponding to Dynamic Modeling；
The corrected parameter valuation also includes wind field resistance coefficient, and the corrected parameter estimator module is further used for flying with described
The total life of Eulerian angles, propeller in row data, the quality of the rotor wing unmanned aerial vehicle, the displacement of the lines of the rotor wing unmanned aerial vehicle with
And the wind field data are input, least square method is used on the position freedom of the rotor wing unmanned aerial vehicle, obtained in energy
Function reaches the power coefficient of efficiency and wind field resistance coefficient in the case of minimum value.
10. device according to claim 7, it is characterised in that the corrected parameter valuation includes resultant couple coefficient, described
Corrected parameter estimator module is further used on the basis of the lift produced by the rotor wing unmanned aerial vehicle each propeller, it is described by
Parameter Estimation is carried out according to the flying quality of the rotor wing unmanned aerial vehicle in the six degrees of freedom model that Newton's law builds and obtains total power
Moment coefficient.
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