基于Takagi-Sugeno模糊模型的小型无人直升机系统辨识

Modeling of Dynamic Characteristic of Small-Scale Robot Helicopter System via Takagi-Sugeno Fuzzy Identification

提出了一种基于非线性系统模糊辨识建立小型直升机动力学特性模型的新方法,分析了小型直升机的4个舵机输入和位姿变量、运动变量的模型.设计实验采集和预处理得到辨识和验证所用的数据.通过辨识航向通道的动力学模型来说明模糊辨识在小型直升机建模中的可行性和有效性,并通过与最小二乘法辨识结果比较,表明该模糊辨识建模方法具有建模简单、模型精度高等优点.研究结果对小型直升机系统的建模和控制具有一定的实用价值.

This paper introduced a new modeling method of small-scale robot helicopter based on fuzzy model identification. The model that includes four input and position variables, orientation variables, motion variables was analyzed. The experiment was designed for collecting the data to be used to identify and validate the model. Through modeling the yaw model, the feasibility and validity of fuzzy identification can be explained. By comparing the least square modeling method, the proposed fuzzy modeling method is found simple and accurate. It is applicable for modeling and controlling small-scale robot helicopter system.