为更好地设计微型直升机的控制系统,必须建立其动力学模型.以微型直升机偏航控制为例,由于微型直升机复杂的动力学特性以及直升机微型化后的特殊性,用传统建模方法很难建立出令人满意的模型.基于神经网络的预测功能,将实验系统获得的数据作为训练样本,可得到神经网络预测模型.该模型可根据当前的控制指令和偏航角度预测出下一时刻直升机的偏航角度,从而为设计直升机控制系统提供依据. In order to design the control system of the mini helicopter better, the dynamic model must be established.With the micro-helicopter yaw control as an example, due to the complex dynamics of the mini helicopter and the particularity of the helicopter miniaturization, the traditional modeling method It is difficult to establish a satisfactory model.Based on the neural network prediction function, the data obtained by the experimental system as a training sample, the neural network prediction model can be obtained.The model can predict the next moment according to the current control instruction and yaw angle Helicopter yaw angle, which provides the basis for the design of helicopter control system.