基于子空间和PEM的无人直升机两阶段参数辨识

Two-stage parameters identification method of unmanned helicopter based on subspace and PEM

在研究子空间辨识方法和预测误差方法 (PEM)的基础上,提出了一种两阶段辨识方法,研究无人直升机的参数辨识问题。首先采用子空间方法得到初始参数模型,然后通过PEM方法得到参数化的直升机模型。为验证方法的有效性,以某型无人直升机实测数据为例进行参数辨识,结果表明该方法有良好的辨识精度。

A two-stage identification method is used to study the parameter identification problem of unmanned helicopters,which is derived from the analysis of the advantages and disadvantages of subspace identification methods and prediction error method（PEM）.According to this method,the initial parameters of the model are gotten by the subspace method,and the more precise model of helicopters is estimated by the PEM method based on the result of the subspace method.In order to demonstrate the effectiveness of two-stage identification method,a model of a type of unmanned helicopter is identified by the method,and it is shown that its identification precision is good by the comparison between the model output data and the flight data.