基于频域辨识方法的无人直升机偏航通道控制律设计技术

为解决直升机偏航通道的问题，对基于频域辨识方法的无人直升机航向控制律设计技术进行探讨。根据 无人机的负重配平原理，利用扫频试飞进行频域辨识，建立偏航通道综合模型，提出无人直升机航向控制律设计技 术，确定控制律参数，并对其进行优化和验证。仿真结果表明：该技术可实现无人直升机的数学建模与控制律设计， 并能具备较好的控制性能品质，具有较强的工程意义。

Yaw Channel Control Law Design Technology Based on Frequency Domain Identification for Unmanned Helicopter

In order to solve the problem of yaw control for unmanned helicopter, the yaw control law design technique based on frequency domain identification method is discussed. According to the principle of counterweight balance, the comprehensive model of yaw channel is established based on using sweep frequency fly test for frequency domain identification. The yaw control law design technology are proposed, the control parameters are ascertained, optimized and verified. The simulation results show that the technology can realize the mathematical modeling and control law design of unmanned helicopter, which has better control quality and engineering value.