Online system identification and simulation validation of the helicopter based on the AEKF
It is difficult to model the flight dynamics of helicopter due to the challenges,such as blade dynamic flapping,dynamic inflow,and rotor/fuselage interference.As a result,the nonlinear model is always of low fidelity.Firstly,the nonlinear flight dynamics of a conventional helicopter is modeled,and a linearized model is obtained at the trim point.Then,a set of orthogonal multi sinu-soidal excitations are applied to the nonlinear model and the method of augmented extended Kalman filter(AEKF)is implemented to identify the state space model,and the effectiveness of the online identification method is preliminarily verified.Finally,at a trimming point,a set of doublet excita-tions are applied to the nonlinear model and the identified model simultaneously,and the resulting time history of the flight states are compared with each other.The results show that the online identi-fied model using the approach of AEKF is reliable.
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