| 摘要: | 本論文在探討發展小型自主飛行直昇機”翔蛉”(H-ling, 為雷虎翼手龍90級搖控直昇機)的參數化模型，及利用頻域響應的系統鑑別技術來重建R-90的動力學模型。本研究的目的，則是為了自主停懸的姿態控制器設計做準備。因為考量到日後控制器設計的應用，本研究採用轉移函數(transfer function)做為探討的動力學模型，而且此模型亦考慮了平衡桿(stabilizer bar)對整體動力的影響。
本論文同時採用多種演算理論和軟體來探討這問題。首先, 我們使用 ARX 來做為演算法則, 並用現有的Yamaha R-50參數，來驗證本演算法的可用性。然後我們把ARX所得到的結果，拿來做為另外兩種演算法 – CIFER 和 PEM 的參考，並和這兩種演算法所得的結果交互比對。 本文亦提供若干數值模擬的結果，以驗證結果的可靠度。希望有朝一日，能將本論文中的研究成果推廣並發展出一架具有全功能性的自主飛行懸翼機。
The development of a parameterized model for a small-scale unmanned helicopter “H-ling” (a Thunder Tiger Raptor-90) and its identification using a frequency domain identification technique are described in this thesis. The construction of the R-90 dynamics using system ID techniques in this work is for potential applications to the control of autonomous hovering. Taking into consideration the future controller design, we adopt transfer functions of main channels as our dynamics model that explicitly accounts for the stabilizer bar, which has a strong influence on the flight dynamics characteristics.
Several algorithms and software are utilized to investigate this problem. In specific, we first adopt ARX as the primary identification algorithm, whose applicability has been verified with the Yamaha R-50 parameters. Results obtained from ARX are then cross-checked with those from CIFER and PEM. Numerical simulations are given to demonstrate the validity of our results. The ultimate goal of this investigation is to extend the current work to build a fully functional autonomous rotorcraft. |