小型无人直升机飞行动力学建模及增稳设计

在分析小型无人直升机的结构布局及飞行特点的基础上，建立了飞行动力学通用结构模型。然后依据通用结构模型，利用飞行实测数据，得到悬停和前飞状态下的辨识模型。在分析辨识模型的动态响应特性后，根据飞行品质规范的要求，采用极点配置技对模型进行了增稳设计，并进行仿真验证。结果表明该增稳器效果良好，应用这种方法建立的小型无人直升机的增稳模型可直接应用于飞行控制系统的设计。

Flight Dynamics Model and Stability Augment Design for a Small-Size Unmanned Helicopter

Flight dynamics generic structural model is developed based on the structure and flight characteristics of a small size unmanned helicopter. According to the generic structural model, specific parameterized models in hover and forward flight are obtained by using the flight test data. After their dynamic responses in time domain are analyzed, augment stabilization controllers for the models are designed in terms of handling quality requirements by eigenvalue configuration technology. Finally this kind of augment stabilization model is simulated and validated. Results show that the augment controller is effective and can be directly used to design flight control system.