摘要
针对小型无人直升机耦合建模问题提出了一种频域解耦辨识建模方法,该方法通过处理针对耦合辨识的实验数据得到指定频域范围内被辨识耦合的频域特性,对频域特性进行拟合从而获得耦合模型.提出了适用于多输入输出(MIMO)系统的频域特性计算方法,定义了一种复合相干函数并证明其能够用于表达在耦合通道辨识中输入输出的相关性.基于该方法,对一种小型无人直升机在悬停状态的纵横角动态耦合模型进行了辨识,并将耦合模型加入到直升机仿真模型中考察其对模型预测精度的影响.模型预测输出与实际输出的比较表明,相较于普通模型,考虑了耦合动态的仿真模型能够更为精确地预测实际输出.
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 multipleoutput） 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.
出处
《信息与控制》
CSCD
北大核心
2012年第1期102-109,共8页
Information and Control
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
coupled model
frequency domain identification
decoupling identification
small-scale unmanned rotorcraft
aerial robot
hovering
