基于GA的小型无人直升机航向模型进化辨识

GA-Based Model Evolutionary Identification for Yaw Channel of Small-scale Unmanned Helicopter

分析了小型无人直升机的航向模型结构,建立了结构可变的用分式形式表示的参数化传递函数模型.设计了一种基于遗传算法(GA)的方法对所建模型结构进行辨识,可同时得到系统模型结构和参数.基于安全性和方便性考虑,制作了一款地面飞行实验台架,采集和预处理了用于辨识和验证的实验数据.最后根据辨识结果说明了所用算法的可行性.

This paper analyzes the model structure of small-scale unmanned helicopter＇s yaw channel.The parameter transfer function model using the alterable fractional form is established.Subsequently,a genetic algorithm（GA） based method is designed to identify the established model structure,and the system model structure and the parameters can be obtained simultaneously.Based on safety and convenience,a kind of ground stand is produced,and the experimental data used for identification and validation is collected and pre-treated.The results are used to explain the feasibility of the proposed identification algorithm.