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小型无人直升机纵横角动态耦合辨识建模
引用本文:夏慧,陈庆伟,王冠林,朱纪洪.小型无人直升机纵横角动态耦合辨识建模[J].信息与控制,2012,41(1):102-109.
作者姓名:夏慧  陈庆伟  王冠林  朱纪洪
作者单位:1. 南京理工大学,江苏南京,210094
2. 清华大学,北京,100084
摘    要:针对小型无人直升机耦合建模问题提出了一种频域解耦辨识建模方法,该方法通过处理针对耦合辨识的实验数据得到指定频域范围内被辨识耦合的频域特性,对频域特性进行拟合从而获得耦合模型.提出了适用于多输入输出(MIMO)系统的频域特性计算方法,定义了一种复合相干函数并证明其能够用于表达在耦合通道辨识中输入输出的相关性.基于该方法,对一种小型无人直升机在悬停状态的纵横角动态耦合模型进行了辨识,并将耦合模型加入到直升机仿真模型中考察其对模型预测精度的影响.模型预测输出与实际输出的比较表明,相较于普通模型,考虑了耦合动态的仿真模型能够更为精确地预测实际输出.

关 键 词:耦合模型  频域辨识  解耦辨识  小型无人直升机  空中机器人  悬停

Identification Modeling of Coupling Between Longitudinal and Lateral Angular Dynamics for Small-Scale Unmanned Helicopter
XIA Hui , CHEN Qingwei , WANG Guanlin , ZHU Jihong.Identification Modeling of Coupling Between Longitudinal and Lateral Angular Dynamics for Small-Scale Unmanned Helicopter[J].Information and Control,2012,41(1):102-109.
Authors:XIA Hui  CHEN Qingwei  WANG Guanlin  ZHU Jihong
Affiliation:1.Nanjing University of Science and Technology,Nanjing 210094,China; 2.Tsinghua University,Beijing 100084,China)
Abstract:A decoupled identification modeling method in frequency domain is presented to identify the coupled model for a small-scale unmanned rotorcraft.The frequency characteristic in the specified frequency range of the identified coupled dynamic model is obtained by calculating the experimental data,and the coupled dynamic model is obtained by fitting the frequency characteristic.The frequency characteristic calculation method is proposed for the MIMO(multiple-input multiple-output) system,and a multiple coherence function is defined and it is proved that it can be used to express the correlation between inputs and outputs in coupled-channel identification.The longitudinal and lateral angular dynamics coupled model of a small-scale hovering unmanned rotorcraft is identified based on this method,and its influence on rotorcraft simulation model’s precision is investigated by adding the coupled model to the rotorcraft simulation model.The comparison between the model prediction output and the actual output shows that the simulation model considering the coupled dynamics can predict the outputs with higher precision than the general model.
Keywords:coupled model  frequency domain identification  decoupling identification  small-scale unmanned rotorcraft  aerial robot  hovering
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