小型无人直升机系统辨识算法研究
Research on Identification Algorithm of Small Unmanned Helicopter System
刘玉柱 1张颜伟 1邢蔚明 1张凤霞1
作者信息
- 1. 中国航空工业集团公司洛阳电光设备研究所,河南 洛阳 471000
- 折叠
摘要
获得精确的小型无人直升机动力学模型,是对其准确控制的前提条件.创新性提出的加权退火算法是一种有效的时域辨识算法,它对模拟退火算法进行特别的改进,可较快的收敛得到小型无人直升机高精度动力学模型.同时,上述算法克服了以往辨识对初始点选择敏感的问题,也避免频域辨识算法通常所需的输入通道扫频环节,从而降低实施辨识的工作量和成本.以真实的四点飞行数据为输入,通过搭建的分布式计算平台,计算出小型无人直升机的全状态空间模型(13 阶,包含悬停模态和前飞模态),加权退火辨识算法的有效性得到很好验证.
Abstract
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.
关键词
系统辨识/加权退火算法/小型无人直升机Key words
System identification/Weighting annealing algorithm/Small-sized unmanned helicopter引用本文复制引用
出版年
2024
NETL
NSTL
万方数据