无人倾转旋翼飞行器机理与系统辨识综合建模技术研究
|
摘要
倾转旋翼飞行器是一种新型飞行器,其具有直升机和固定翼飞机的共同特点,既能像直升机一样垂直起降,又能实现飞机模式的高速前飞,正因为其优良的特性,导致其本身结构复杂,技术难点多等特点。建立倾转旋翼飞行器的飞行动力学模型是对倾转旋翼飞行器进行研究的重要内容,是实现直升机模式与飞机模式互相转换的基础,也是研究其控制系统的关键所在。本文针对某型无人倾转旋翼飞行器进行了机理建模以及系统辨识建模。首先采用机理方法,针对飞行器的高度非线性和复杂动力学特性建立了其机理模型,并将此模型进行了扩展,使之也可运用到直升机上;然后在所建立的非线性飞行动力学模型基础上,采用小扰动假设对模型在平衡点附近进行了线化,建立了倾转旋翼飞行器小扰动线化飞行动力学模型;而后建立了旋翼飞行器的通用仿真模型,并验证了模型的正确性;最后,以机理模型的小扰动线化模型作为待辨识模型集,进行系统辨识建模,采用了状态子空间方法获得初始模型,再采用预报误差法获得最优模型,通过仿真计算,成功地辨识得到了倾转旋翼飞行器的飞行动力学模型。
The tilt-rotor aircraft is a new type of aircraft and shares the common features of helicopter and fixed wing aircraft. It can take off and land vertically like a helicopter,and can fly forward at high speed like the aircraft. Because of the excellent features, it has complex structure and lots of technical difficulties. Establishing the model of flight dynamics is an important part of the research on the tilt-rotor aircraft control system.
Two methods—mechanism modeling and system identification modeling—are used to establish unmanned tilt-rotor aircraft model. Firstly, we develop a complex and nonlinear dynamic tilt-rotor aircraft model by using the mechanism modeling, and extend the model so that it can also be applied to the helicopter. Secondly, we linearize the dynamics model near the equilibrium point based on a small disturbance hypothesis. Thirdly, we verify the correctness of the modeling method by trimming the helicopter. At last, system identification was conducted the initial model is developed by using subspace identification method, and the final optimized model is constructed by prediction error method. The flight mechanics mode of the tilt-rotor aircraft is successfully identified through simulation.
The tilt-rotor aircraft is a new type of aircraft and shares the common features of helicopter and fixed wing aircraft. It can take off and land vertically like a helicopter,and can fly forward at high speed like the aircraft. Because of the excellent features, it has complex structure and lots of technical difficulties. Establishing the model of flight dynamics is an important part of the research on the tilt-rotor aircraft control system.
Two methods—mechanism modeling and system identification modeling—are used to establish unmanned tilt-rotor aircraft model. Firstly, we develop a complex and nonlinear dynamic tilt-rotor aircraft model by using the mechanism modeling, and extend the model so that it can also be applied to the helicopter. Secondly, we linearize the dynamics model near the equilibrium point based on a small disturbance hypothesis. Thirdly, we verify the correctness of the modeling method by trimming the helicopter. At last, system identification was conducted the initial model is developed by using subspace identification method, and the final optimized model is constructed by prediction error method. The flight mechanics mode of the tilt-rotor aircraft is successfully identified through simulation.
引文
[1]方崇智,萧德云.过程辨识[M].北京:清华大学出版社,1988.
[2]任锦堂.系统辨识[M].上海:上海交通大学出版社,1989.
[3]徐南荣,宋文忠,夏安邦.系统辨识[M].南京:东南大学出版社,1991.
[4]沈福生.小型无人直升机飞行动力学参数化模型辨识研究.[D] .南京:南京航空航天大学,2008.
[5]倪章松,贺德馨.等效动压洞壁干扰修正方法的研究与应用[J].空气动力学学报, 2000,18(1):86~91.
[6] Hamel P G, Kaletka J.Advances in Rotorcraft System Identification[J]. Progress in Aerospace Sciences,1997,33:259~284.
[7] Ljung. L..System Identification-Theory For the User, SecondEdition[M].Prentice-Hall,1999.
[8]孙涛.直升机飞行动力学模型辨识研究.[D] .南京:南京航空航天大学,2000.
[9] Peter D, Bruce E, Tinling, William A, etal.A mathematical model of a single main rotor helicopter for piloted simulation[J].NASA-TM-84281,1982.
[10] Chen,R.T.N.A Simplified Rotor System Mathematical Model for Piloted Flight Dynamics Simulation[J], NASA TM-78575,May 1979.
[11] Gessow A,Meyers Jr G.D.Aerodynamics of the Helicopter[J].Frederick Ungar Pub. Co. (New York),1952.
[12] Seckel.E.,Curtiss Jr H.C.Aerodynamic Characteristics of Helicopter Rotors[J].Dept. of Aerospace and Mechanical Eng. Rep. 659, Princeton Univ., 1962.
[13] Olivier HEUZE,Stepphanie DIAZ,Andre DESOPPER.Simplified models for tiltrotor aerodynamic phenmena in hover and low speed flight[J].In CEAS aerospace aerodynamics research conference,Cambidge,untied kingdom,10-12 June 2002.
[14] Desopper A.,etal.Study of the Low Speed Characteristics of a tilt-rotor[J].Presented at the 28th European Rotorcraft Forum,2002.
[15] M.A.McVeign.Preliminary Simulation of an Advanced, Hingeless Rotor XV-15 Tilt Rotor Aircraft[R].NASA CR-151950.
[16]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2004.
[17] H.Rosenstein,M.A.McVeigh.P.A.Mollenkof.V/STOL titl rotor aircraft study mathematical model for areal time simulation of a tilt rotor aircraft(boeing bertol model 222)[R].NASA CR-114601.
[18] Harendra,P.B., JOglekar, M.J.,Gaffeyetal.V/STOL tilt rotor study. Volum 5:A mathematical model for real time flight simulation of the Bell Modl 301 tilt rotor research aircraft[R].NASA-CR-114614.
[19]沙虹伟.无人倾转旋翼机飞行动力学建模与姿态控制技术研究[D].南京:南京航空航天大学,2007.
[20] Eric, B. Carlson, Yiyuan zhao, Robert T.N. chen, Optimal Tilt-rotor runway Operations in One Engine Inoperative,AIAA-99-3961.
[21]张义涛,面向倾转旋翼飞行器飞行控制设计的建模技术研究[D].南京:南京航空航天大学,2006.
[22]熊海泉,刘旭,郑本武.飞机飞行动力学[M],北京:航空工业出版社.
[23]高正,陈仁良.直升机飞行动力学[M].科学出版社,2004.4.
[24] R.W.普劳蒂著,高正等译.直升机性能及稳定性和操纵性[M].北京:航空工业出版社,1990.
[25]陈仁良.直升机飞行动力学数学建模及机动性研究[D].南京:南京航空航天大学,1998.
[26]黄文梅,杨勇,熊桂林等.系统仿真分析与设计[M].长沙:国防科技大学出版社,2001.
[27]张志勇.精通MATLAB6.5版[M].北京:北京航空航天大学出版社,2004.
[28]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].北京:清华大学出版社,2005.
[29]朱源.XV-15倾转旋翼飞机飞行控制系统概述[J].沈阳航空工业学报,Jun.2005.
[30] Kathryn B. Hilbert.A mathematical model of the UH-60 helicopter[J].NASA Technical Memorandum 85890,1984.
[31] Mckelvey T.Identification of state-space models from time and frequency data[博士学位论文]. Link?ping: Link?ping University, Department of Electrical Engineering, 1995.
[32]顾冬雷,高正,孙传伟.无人直升机控制动态特性的频域辨识建模方法[J].南京航空航天大学学报,2004,36(6):688~692.
[33]吴建德,李平,韩波.一种基于参数辨识的微小型无人直升机建模方法[J].航空学报,2007,28(4): 845~850.
[34] Marchand M, Fu K H. Frequency-domain Parameter Estimation of Aeronautical Systems Without and With Time Delays. Proceedings of 7th IFAC Symposium on Identification and System Parameter Estimation[J].1985: 669~674.
[35] Mettler B .Modeling Small-Scale Unmanned Rotorcraft for Advanced Flight Control Design,[D].Pittsburgh: Carnegie Mellon University,2001.
[36]吴建德.基于频域辨识的微小无人直升机的建模与控制研究[D].杭州:浙江大学,2007.
[37]郭树军.直升机超机动飞行的神经网络控制研究[D].南京:南京航空航天大学,2000.
[38] Verhaegen M, Varga A, Grübel G.Some Experience with the MOESP Class of Subspace Model Identification Methods in Identifying The BO-105 Helicopter[J].DLR TR R165-94, 1994.
[39] Mckelvey T.Identification of state-space models from time and frequency data[D].Link?ping: Link?ping University,Department of Electrical Engineering,1995.
[40]潘立登,潘仰东.系统辨识与建模[M].北京:化学工业出版社,2004.
[41]李鹏波,胡德文.系统辨识基础[M].北京:国水利出版社,2006.
[42]朱剑英.智能系统非经典数学方法[M].武汉:华中科技大学出版社, 2001.
[43]刘兴堂.现代辨识工程[M].北京:国防工业出版社,2006.
[2]任锦堂.系统辨识[M].上海:上海交通大学出版社,1989.
[3]徐南荣,宋文忠,夏安邦.系统辨识[M].南京:东南大学出版社,1991.
[4]沈福生.小型无人直升机飞行动力学参数化模型辨识研究.[D] .南京:南京航空航天大学,2008.
[5]倪章松,贺德馨.等效动压洞壁干扰修正方法的研究与应用[J].空气动力学学报, 2000,18(1):86~91.
[6] Hamel P G, Kaletka J.Advances in Rotorcraft System Identification[J]. Progress in Aerospace Sciences,1997,33:259~284.
[7] Ljung. L..System Identification-Theory For the User, SecondEdition[M].Prentice-Hall,1999.
[8]孙涛.直升机飞行动力学模型辨识研究.[D] .南京:南京航空航天大学,2000.
[9] Peter D, Bruce E, Tinling, William A, etal.A mathematical model of a single main rotor helicopter for piloted simulation[J].NASA-TM-84281,1982.
[10] Chen,R.T.N.A Simplified Rotor System Mathematical Model for Piloted Flight Dynamics Simulation[J], NASA TM-78575,May 1979.
[11] Gessow A,Meyers Jr G.D.Aerodynamics of the Helicopter[J].Frederick Ungar Pub. Co. (New York),1952.
[12] Seckel.E.,Curtiss Jr H.C.Aerodynamic Characteristics of Helicopter Rotors[J].Dept. of Aerospace and Mechanical Eng. Rep. 659, Princeton Univ., 1962.
[13] Olivier HEUZE,Stepphanie DIAZ,Andre DESOPPER.Simplified models for tiltrotor aerodynamic phenmena in hover and low speed flight[J].In CEAS aerospace aerodynamics research conference,Cambidge,untied kingdom,10-12 June 2002.
[14] Desopper A.,etal.Study of the Low Speed Characteristics of a tilt-rotor[J].Presented at the 28th European Rotorcraft Forum,2002.
[15] M.A.McVeign.Preliminary Simulation of an Advanced, Hingeless Rotor XV-15 Tilt Rotor Aircraft[R].NASA CR-151950.
[16]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2004.
[17] H.Rosenstein,M.A.McVeigh.P.A.Mollenkof.V/STOL titl rotor aircraft study mathematical model for areal time simulation of a tilt rotor aircraft(boeing bertol model 222)[R].NASA CR-114601.
[18] Harendra,P.B., JOglekar, M.J.,Gaffeyetal.V/STOL tilt rotor study. Volum 5:A mathematical model for real time flight simulation of the Bell Modl 301 tilt rotor research aircraft[R].NASA-CR-114614.
[19]沙虹伟.无人倾转旋翼机飞行动力学建模与姿态控制技术研究[D].南京:南京航空航天大学,2007.
[20] Eric, B. Carlson, Yiyuan zhao, Robert T.N. chen, Optimal Tilt-rotor runway Operations in One Engine Inoperative,AIAA-99-3961.
[21]张义涛,面向倾转旋翼飞行器飞行控制设计的建模技术研究[D].南京:南京航空航天大学,2006.
[22]熊海泉,刘旭,郑本武.飞机飞行动力学[M],北京:航空工业出版社.
[23]高正,陈仁良.直升机飞行动力学[M].科学出版社,2004.4.
[24] R.W.普劳蒂著,高正等译.直升机性能及稳定性和操纵性[M].北京:航空工业出版社,1990.
[25]陈仁良.直升机飞行动力学数学建模及机动性研究[D].南京:南京航空航天大学,1998.
[26]黄文梅,杨勇,熊桂林等.系统仿真分析与设计[M].长沙:国防科技大学出版社,2001.
[27]张志勇.精通MATLAB6.5版[M].北京:北京航空航天大学出版社,2004.
[28]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].北京:清华大学出版社,2005.
[29]朱源.XV-15倾转旋翼飞机飞行控制系统概述[J].沈阳航空工业学报,Jun.2005.
[30] Kathryn B. Hilbert.A mathematical model of the UH-60 helicopter[J].NASA Technical Memorandum 85890,1984.
[31] Mckelvey T.Identification of state-space models from time and frequency data[博士学位论文]. Link?ping: Link?ping University, Department of Electrical Engineering, 1995.
[32]顾冬雷,高正,孙传伟.无人直升机控制动态特性的频域辨识建模方法[J].南京航空航天大学学报,2004,36(6):688~692.
[33]吴建德,李平,韩波.一种基于参数辨识的微小型无人直升机建模方法[J].航空学报,2007,28(4): 845~850.
[34] Marchand M, Fu K H. Frequency-domain Parameter Estimation of Aeronautical Systems Without and With Time Delays. Proceedings of 7th IFAC Symposium on Identification and System Parameter Estimation[J].1985: 669~674.
[35] Mettler B .Modeling Small-Scale Unmanned Rotorcraft for Advanced Flight Control Design,[D].Pittsburgh: Carnegie Mellon University,2001.
[36]吴建德.基于频域辨识的微小无人直升机的建模与控制研究[D].杭州:浙江大学,2007.
[37]郭树军.直升机超机动飞行的神经网络控制研究[D].南京:南京航空航天大学,2000.
[38] Verhaegen M, Varga A, Grübel G.Some Experience with the MOESP Class of Subspace Model Identification Methods in Identifying The BO-105 Helicopter[J].DLR TR R165-94, 1994.
[39] Mckelvey T.Identification of state-space models from time and frequency data[D].Link?ping: Link?ping University,Department of Electrical Engineering,1995.
[40]潘立登,潘仰东.系统辨识与建模[M].北京:化学工业出版社,2004.
[41]李鹏波,胡德文.系统辨识基础[M].北京:国水利出版社,2006.
[42]朱剑英.智能系统非经典数学方法[M].武汉:华中科技大学出版社, 2001.
[43]刘兴堂.现代辨识工程[M].北京:国防工业出版社,2006.