纵置双涵道陆空车辆模型辨识与验证

发布时间：2018-07-16 20:17

【摘要】：陆空车辆是一种具备陆地行驶能力以及空中巡航飞行性能的多用途综合交通工具,其对多种环境的良好适应能力使得其可以在军用领域和民用领域得到广泛的应用。陆空车辆的飞行控制需要在精确的陆空车辆飞行气动模型上进行设计开发。因而精确建模技术是进行陆空车辆飞行控制研究、甚至实现自主飞行以及相关实验研究的基础性工作。为获取准确可靠的陆空车辆飞行气动模型,本文以纵置双涵道陆空车辆缩比模型为研究参照,开展了以下研究工作:(1)对纵置双涵道陆空车辆的结构与工作原理进行了介绍,对陆空车辆驱动系统进行了机理分析,获取了控制信号到旋桨转速输出的传递函数模型。结合叶素理论以及常用气动力计算理论以及牛顿欧拉刚体运动方程得出了陆空车辆的非线性动力学方程。然后对获取的非线性方程在悬停工况点进行小扰动线性化处理,建立了陆空车辆角动态运动通道的状态空间方程的模型。(2)基于频域辨识理论,对陆空车辆模型的辨识实验进行了方案设计,并设计编制了相应的数据采集软件。(3)对无刷直流电机驱动系统与伺服舵机开展了辨识实验研究,获取了相应的传递函数模型,并进行了时域验证。(4)进行陆空车辆悬停工况下的角动态多通道模型辨识实验。首先结合陆空车辆角动态运动通道的单通道的机理模型结构,采用频域辨识理论对其简化传递函数模型进行的参数估计辨识,为多通道辨识提供初值依据。然后考虑通道之间的耦合关系,进行双通道状态空间模型的辨识研究,获取了双通道状态空间模型,并依据该模型结构辨识得到机理线性化模型中待定参数,并对获取的辨识模型进行时域验证。最后,对全文研究进行了总结,并提出了需进一步研究的方向。
[Abstract]:Ground-air vehicle is a kind of multi-purpose integrated vehicle with the ability of land driving and air cruising. It can be widely used in military and civil fields because of its good adaptability to various environments. The flight control of land and air vehicles needs to be designed and developed on the precise aerodynamics model of land and air vehicles. Therefore, accurate modeling technology is the basic work for the research of ground and air vehicle flight control, and even the realization of autonomous flight and related experimental research. In order to obtain an accurate and reliable aerodynamics model of land and air vehicles, the following research work has been carried out in this paper: (1) the structure and working principle of vertical double culvert land and air vehicles are introduced. The mechanism of the driving system of land and air vehicle is analyzed, and the transfer function model from the control signal to the speed output of the propeller is obtained. The nonlinear dynamic equations of land and air vehicles are obtained by combining the blade element theory, the commonly used aerodynamic calculation theory and the Newtonian Euler rigid body motion equation. Then the obtained nonlinear equations are linearized with small disturbance at the hovering working point, and the state space equation model of the dynamic channel of the vehicle angle is established. (2) based on the frequency domain identification theory, In this paper, the scheme design of the identification experiment of land and air vehicle model is carried out, and the corresponding data acquisition software is designed. (3) the identification experiment of brushless DC motor driving system and servo steering gear is carried out, and the corresponding transfer function model is obtained. The time domain verification is carried out. (4) the angular dynamic multi-channel model identification experiment is carried out under the hovering condition of land and air vehicles. Firstly, combining the mechanism model structure of single channel of the angle dynamic moving channel of land and air vehicle, the paper uses the frequency domain identification theory to estimate the parameters of the simplified transfer function model, which provides the initial value basis for the multi-channel identification. Then considering the coupling relationship between the channels, the identification of the two-channel state space model is studied, and the two-channel state space model is obtained. According to the structure identification of the model, the undetermined parameters in the linearized mechanism model are obtained. The obtained identification model is verified in time domain. At last, the paper summarizes the research and puts forward the direction of further research.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V271;U469

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