摘要
舵机作为无人旋翼机一个重要的执行机构,控制着旋翼机飞行姿态与轨迹的改变,为建立舵机的数学模型,提出了基于最小二乘偏差补偿法辨识伺服舵机的模型参数。在研究了伺服舵机的结构与工作原理的基础上,首先建立舵机各组件模型,综合得到舵机的系统模型;然后采用最小二乘偏差补偿法辨识模型参数。实验仿真验证了该方法具有较高辨识精度与有效性。
As a key actuator of the unmanned rotary-wing aircraft,the steering engine controls the flight attitudes and the trajectories of the rotary-wing aircraft.In order to establish the mathematical model of the actuator,a method based on the least square deviation compensation is proposed to identify the model parameters of the servo actuator.On the basis of studying the structures and working principles of the actuator,the system model of the actuator is synthesized,and the parameters of the actuator modelare identified by the least square deviation compensation method.Simulation results show that the proposed method has a high identification accuracy and effectiveness.
作者
唐小军
贺雯
TANG Xiao-jun;HE Wen(School of Mathematics and Physics,Jinggangshan University,Jian,Jiangxi 343009,China.)
出处
《井冈山大学学报（自然科学版）》
2020年第6期51-55,共5页
Journal of Jinggangshan University (Natural Science)
基金
江西省教育厅科技计划项目(GJJ190551)
井冈山大学博士科研启动项目(JZB17002)。
关键词
舵机
数学模型
最小二乘法
偏差补偿
参数辨识
actuator
mathematical model
least square algorithm
deviation compensation
parameter identification
