悬停状态下四旋翼飞行器特征模型的辨识

Identification of Quad-rotor Aircraft Characteristic Model in Hover

摘要:

为了解决四旋翼飞行器模型阶次较高的问题,对悬停状态下四旋翼飞行器的特征模型进行了研究；首先,分析建立了四旋翼飞行器的动力学模型,并利用小扰动原理对模型进行简化,得到飞行器的特征模型结构；进而,搭建飞行器辨识实验平台,获得可靠的输入输出数据；最后,为了保证飞行器初始阶段稳定性,选择适合的参数初值,并通过模型拟合度选择在线递推算法,建立了飞行器的特征模型；通过对实验结果的分析,表明了所建特征模型的有效性。

Abstract:

In order to solve the four rotor aircraft model order higher problem, the model features four-rotor aircraft under the hover state were studied. Firstly, the establishment of a dynamic model of four-rotor aircraft, and using a small disturbance theory to simplify the model to obtain the feature model aircraft structure; and then build aircraft identification experiment platform, to obtain reliable data input and output; and finally, in order to ensure the stability of the initial phase of the aircraft, choose the appropriate initial parameters, and select the online recursive algorithm through model fit, establishes the characteristic model of the aircraft. Through the analysis of the experimental results show the validity of the characteristics of the model.