信息与控制2012，Vol.41Issue(1)：102-109,8.DOI:10.3724/SP.J.1219.2012.00102
小型无人直升机纵横角动态耦合辨识建模
Identification Modeling of Coupling Between Longitudinal and Lateral Angular Dynamics for Small-Scale Unmanned Helicopter
夏慧 1陈庆伟 1王冠林 2朱纪洪2
作者信息
- 1. 南京理工大学,江苏南京210094
- 2. 清华大学,北京100084
- 折叠
摘要
Abstract
A decoupled identification modeling method in frequency domain is presented to identify the coupled model for a small-scale unmanned rotorcraft. The frequency characteristic in the specified frequency range of the identified coupled dynamic model is obtained by calculating the experimental data, and the coupled dynamic model is obtained by fitting the frequency characteristic. The frequency characteristic calculation method is proposed for the MIMO (multiple-input multiple-output) system, and a multiple coherence function is defined and it is proved that it can be used to express the correlation between inputs and outputs in coupled-channel identification. The longitudinal and lateral angular dynamics coupled model of a small-scale hovering unmanned rotorcraft is identified based on this method, and its influence on rotorcraft simulation model's precision is investigated by adding the coupled model to the rotorcraft simulation model. The comparison between the model prediction output and the actual output shows that the simulation model considering the coupled dynamics can predict the outputs with higher precision than the general model.关键词
耦合模型/频域辨识/解耦辨识/小型无人直升机/空中机器人/悬停Key words
coupled model/ frequency domain identification/ decoupling identification/ small-scale unmanned rotorcraft/ aerial robot/ hovering分类
自科综合引用本文复制引用
夏慧,陈庆伟,王冠林,朱纪洪..小型无人直升机纵横角动态耦合辨识建模[J].信息与控制,2012,41(1):102-109,8.
