Targeting small unmanned helicopters with complex dynamic features, this paper puts forward a dynamic modelling method based on frequency domain identification. Firstly, the angular dynamic model structure of the small unmanned helicopter was determined by mechanism modeling, and the modelling parameters were obtained through frequency identification of partial coherence analysis. After that, the system model was constructed in light of the model structure and modelling parameters. The proposed model was then subjected to a flight test, and compared against time-domain data. The results show that the model demonstrated the dynamic features of the target helicopter with high accuracy and adaptability. The research findings provide new insights into the detection of dynamic features of small aircrafts.
small unmanned helicopter, frequency domain identification, dynamic modeling, time domain verification
The authors would like to thank the whole automation team for their invaluable assistance and support. In particular, Wang Min and Hong Liang. The Scientific Research Program Funded by Shaanxi Provincial Education Department under Grant No.17JK0345, Doctoral startup fund of Xi'an Polytechnic University under No.BS1415.
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