Identification and Simulation of a Subminiature Rotorcraft in Hover

A model for the nonlinear dynamics of a subminiature rotorcraft is established.Through the linearization of the nonlinear dynamics,the linear time-invariant attitude dynamics with physical parameter of the subminiature rotorcraft in hover is obtained.A subspace-based state space system identification method is applied to identify the model of rotorcraft in hover.Simulation results show that the subspace method can identify the physical parametric attitude dynamics of miniature rotorcraft in hover accurately,and thus some physical parameters which cannot be calculated or measured precisely,can be deduced.