摘要
无人直升机的数学模型是设计先进控制系统的基础,首先采用机理建模的方法分析了直升机的飞行力学特性,加入旋翼运动,并得到了参数化状态空间模型。辨识之前对实验数据进行野值识别,剔除,补正,滤波,去趋势项等处理,利用预报误差法进行系统辨识,再运用遗传算法对预报误差辨识结果进行优化,验证结果表明,达到辨识和优化的目的。
Unmanned helicopter’s mathematical model is the basis of advanced control systems design.Firstly,the characters of helicopter flight dynamics are researched by using mechanism modeling method.The flapping motions of main rotor are also modeled,then parametric state-space model is acquired.Before identification,the experiment data should be rectified and filtered.Prediction error method（PEM） is used for system identification,and the PEM identification results are optimized by genetic algorithms.The verification results show that two methods can all achieve their goals.
出处
《电子设计工程》
2013年第17期83-85,88,共4页
Electronic Design Engineering
关键词
无人直升机
系统辨识
预报误差法
遗传算法
unmanned helicopter
system identification
prediction error Method
genetic algorithm
