Research on Identification Algorithm of Small Unmanned Helicopter System
Obtaining an accurate dynamic model of a small unmanned helicopter is a prerequisite for its accurate control.The weighted annealing algorithm proposed in this paper is an effective time-domain identification algorithm,which is specially improved on the simulated annealing algorithm and can get the high-precision dynamic model of a small unmanned helicopter quickly.At the same time,the algorithm overcomes the problem that the previous identifi-cation is sensitive to the selection of initial points,and avoids the input channel frequency sweep which is usually re-quired by the frequency domain identification algorithm,thus reducing the workload and cost of implementation identi-fication.Based on the real four-point flight data,the full-state space model(13-order,including hover mode and for-ward flight mode)of the small unmanned helicopter was calculated by a distributed computing platform,and the effec-tiveness of the weighted annealing identification algorithm was well verified.
System identificationWeighting annealing algorithmSmall-sized unmanned helicopter
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