小型無人旋翼機之系統模型建立與參數鑑別

System Model Build and Parameter Identification of Mini Helicopter

黃峰松(Fong-Song Huang)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2009年)

https://doi.org/10.6838/YZU.2009.00140

摘要

本論文的目的在於對直昇機各模型的探討之外，再來就是建立一套適用於直昇機航向率、垂直升降系統與縱、橫向系統的參數鑑別方法。本論文有別於國內的鑑別方法，所使用的並不是黑盒子(Black Box)或根據空氣動力學的方式鑑別參數，所使用的方法是根據所量測的飛行動態對其做時域的參數鑑別。
本研究運用飛行模擬器及飛控電腦建構之硬體迴路模擬系統(Hardware In the Loop Simulator, HIL)，針對Robinson R22直昇機系統進行鑑別技術之研究，探討實驗信號的選擇與參數鑑別所使用的方法，以及時域數據進行系統參數鑑別的最佳化技術，以期在實際飛測之前建立系統參數鑑別技術的基礎。數值模擬的結果中，發現信號的選擇與所使用的方法不同會造成鑑別結果的差異。本文在最後將會比較所提出的鑑別方法造成的差異，並提出最適用於直昇機航向率、垂直升降系統與縱、橫向系統的參數鑑別方法。

關鍵字

直昇機 參數鑑別 硬體迴路模擬系統 最佳化 縱 橫向 垂直升降 航向率

並列摘要

The objective of this research is that the helicopter various models discussion beside, after that is to build a system identification method for the helicopter’s longitudinal/lateral/heave/yaw to be suitable. This paper is different with the domestic identification methods, the use is not the black box(Black Box) or base aerodynamic way to identify parameter, the use is base on flight data and to identify parameter for time domain.
This research is application flight simulator and flight computer to make hardware in the loop simulator, research on identification method for Robinson R22 helicopter system, discussion experiment signal’s choice and parameter identification to use method, and system parameter identification for the time domain data of optimization technology, wish to build a system parameter identification technology before helicopter flight in the sky. In numerical simulation result, discovered that the signal choice and to use different method will make identification result difference. The paper will compare identification method to make difference, and proposes suitably system parameter identification method for the helicopter’s longitudinal/lateral/heave/yaw.

並列關鍵字

Helicopter System Identification Hardware In The Loop Simulator Optimization Longitudinal Lateral Heave Yaw

參考文獻

[12]林能祺，「小型無人旋翼機增穩控制器設計」，私立元智大學，碩士論文，民國九十五年七月。

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