Dynamic modal-split transfer function model for helicopter

Abstract

The invention discloses a dynamic modal-split transfer function model for a helicopter, which belongs to the field of modeling and control of unmanned aerial vehicles. The dynamic modal-split transfer function model for the helicopter is characterized by comprising first-order subsystems, second-order subsystems, system gain and equivalent delay. Real zero poles and complex conjugate zero poles of a transfer function are divided into the first-order subsystems and the second-order subsystems by a modal-splitting method; and during the division, the complex conjugate zero poles are first divided into the second-order subsystems, and redundant real zero poles are combined into the second-order subsystems in pairs, so that the whole system consists of not more than two first-order subsystems and a few second-order subsystems, and the dynamic model for the unmanned helicopter can be determined by specifying real roots of the first-order subsystems, the natural frequency and damping ratio of the second-order subsystems, the system gain and the equivalent delay. In the invention, a complex dynamic model for the helicopter is converted into the combination of low-order subsystems dominated by second-order systems and supplemented by first-order systems, and model parameters can be classified and defined into a plurality of relatively more compact and order-irrelative ranges, so that the model parameters can be searched in a concentrated range and the dynamic model for the helicopter can be easily identified by an identification algorithm.

Description

technical field [0001] The invention is a mode division transfer function model used for the identification and modeling of the helicopter dynamics, which can accurately and conveniently model the dynamics of the helicopter during the identification process. It is mainly used in the technical field of dynamic modeling of aircraft such as helicopters, tiltrotors and airplanes. Background technique [0002] The helicopter dynamics model is used to reflect the dynamic characteristics of the helicopter. In the past, the general transfer function model used to describe the dynamic characteristics of helicopters used two forms: polynomial form and zero-pole form. [0003] For models in polynomial form, it is difficult to precisely determine the model parameters. The reason is as follows: due to the characteristics of the dynamics, each parameter of the helicopter dynamics model increases successively, and its increase is usually between 10-100 times. However, due to the charact...

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Problems solved by technology

It is very difficult to determine the above seven poles and zeros at the same time in this complex point set, and it is even more difficult to guarantee the accuracy

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