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针对小型无人直升机耦合建模问题提出了一种频域解耦辨识建模方法,该方法通过处理针对耦合辨识的实验数据得到指定频域范围内被辨识耦合的频域特性,对频域特性进行拟合从而获得耦合模型.提出了适用于多输入输出(MIMO)系统的频域特性计算方法,定义了一种复合相干函数并证明其能够用于表达在耦合通道辨识中输入输出的相关性.基于该方法,对一种小型无人直升机在悬停状态的纵横角动态耦合模型进行了辨识,并将耦合模型加入到直升机仿真模型中考察其对模型预测精度的影响.模型预测输出与实际输出的比较表明,相较于普通模型,考虑了耦合动态的仿真模型能够更为精确地预测实际输出.
Aiming at the coupling modeling problem of small unmanned helicopters, a frequency domain decoupling identification modeling method is proposed. By processing the experimental data for coupling identification, the frequency domain characteristics of identified coupling in the specified frequency range are obtained, To obtain the coupling model.The proposed method is suitable for multi-input and output (MIMO) system frequency domain characteristics calculation method, defines a composite coherence function and proves it can be used to express the correlation of input and output in the coupling channel identification Based on this method, the dynamic coupling model of a small unmanned helicopter in the hovering state is identified, and the coupling model is added to the helicopter simulation model to investigate its impact on the prediction accuracy of the model.Model prediction output and actual The output comparisons show that compared to the normal model, the simulation model that takes into account coupled dynamics can predict the actual output more accurately.