A Modeling Method of Miniature Unmanned Helicopter Based on Parameter Identification

The miniature unmanned helicopter exhibits a complex and nonlinear dynamic behavior,open-loop unstable and a high degree of inter-axis coupling.This paper describes a modeling method based on parameter identification for a miniature unmanned helicopter.This method combines the advantages of mechanism modeling and system identification.First,a universal parameter model of roll and pitch channels of a miniature unmanned helicopter is developed by strict mechanism derivation which explicitly accounts for the couplings of rotor,stabilizer bar and fuselage.Second,the key parameters of a certain unmanned helicopter are obtained by frequency identification technique based on partial coherence analysis to have the model built.The model is verified by comparing the model output with the output collected during flight test.