| 超小型旋翼机系统悬停状态的辨识仿真研究 |
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| 引用本文： | 陈丽,刘亮,龚振邦.超小型旋翼机系统悬停状态的辨识仿真研究[J].机器人,2006,28(1):14-18. |
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| 作者姓名： | 陈丽 刘亮 龚振邦 |
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| 作者单位： | 上海大学机电工程与自动化学院精密机械系,上海,200072 |
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| 基金项目： | 国家科技攻关项目;上海市科技攻关项目 |
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| 摘 要： | 建立了超小型旋翼机系统的非线性参数化模型. 通过把非线性模型在悬停点线性化，得到用物理参数描述的系统姿态运动的线性模型；基于其离散状态空间模型，采用子空间方法进行线性系统识别．仿真结果表明：子空间方法可以较准确地辨识所推导的超小型旋翼机系统悬停状态的线性物理参数模型，从而能获得系统的一些难以准确计算或测量的主要物理参数．
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| 关 键 词： | 超小型旋翼机 悬停 子空间 参数识别 |
| 文章编号： | 1002-0446（2006）01-0014-05 |
| 收稿时间： | 2004-12-30 |
| 修稿时间： | 2004-12-30 |
Identification and Simulation of a Subminiature Rotorcraft in Hover |
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| CHEN Li,LIU Liang,GONG Zhen-bang.Identification and Simulation of a Subminiature Rotorcraft in Hover[J].Robot,2006,28(1):14-18. |
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| Authors: | CHEN Li LIU Liang GONG Zhen-bang |
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| Affiliation: | Department of Precision Mechanical Engineering, School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China |
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| Abstract: | A model for the nonlinear dynamics of a subminiature rotorcraft is established. Through the linearization of the nonlinear dynamics, the linear time-invariant attitude dynamics with physical parameter of the subminiature rotorcraft in hover is obtained. A subspace-based state space system identification method is applied to identify the model of rotorcraft in hover. Simulation results show that the subspace method can identify the physical parametric attitude dynamics of miniature rotorcraft in hover accurately, and thus some physical parameters which cannot be calculated or measured precisely, can be deduced. |
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| Keywords: | subminiature rotorcraft hover subspace parameter identification |
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