基于Elman网络的无人直升机航向的预测建模

Yaw Predictive Model of Unmanned Helicopter Using Elman Network

为了实现无人直升机的自主飞行,需要首先建立起准确的动力学模型,文中设置了无人直升机的飞行试验平台,采集了大量试验数据。通过对数据的分析,抽取其中有效的数据对,提出了应用Elman网络来建立无人直升机的航向预测模型的方法,并同其它的分析方法进行了对比。最后运用实验仿真验证了方法的可行性和优越性。

The dynamic model of yaw movement of the unmanned micro helicopter was developed. Experiments with an on-board measurement system were set up to gather the data of the flying helicopter. The experiment data were used to identify the yaw control dynamics predictive model of the unmanned micro helicopter firstly with Elman neural network. The Elman dynamics model was contrasted with several other methods. The advantage and feasibility of the predictive model were validated by the experimental simulation.