四旋翼无人机的系统模型与辨识

研究无人机系统优化控制问题,为实现四旋翼微型飞行器的自动控制飞行,需要得到正确的系统模型参数,实现精确控制。子空间辨识法可以直接地反应出多输出多输出系统模型,算法比较容易实现。首先从四旋翼的力学模型出发,建立了在小角度假设下的线性系统模型,并首次将子空间辨识方法运用到四旋翼飞行器的辨识中。用仿真实例实验,假设飞行器在缓慢上升过程,采用由子空间辨识方法获得的系统模型输出与原系统在同样输入条件下的输出进行了比较。结果表明在假设条件下的辨识具有可行性,为中旋翼无人机优化控制提供了依据。

System Modeling and Identification for Quad Rotor Unmanned Air Vehicle

In order to control the auto flight of unmanned quad rotor air vehicle,we have to build the system model to achieve the accurate control.Subspace identification method can reflect the MIMO system directly and implement the algorithm easily,and it is wide used in recent years.This paper built the system model under the condition of the small angle hypothesis.The subspace identification method was firstly used for the system identification of quad rotor air vehicle.The simulation was used to design the experiment,and it was supposed that the air vehicle is in the statement of slowly rising.The output of the system obtained by the system identified was compared with the output obtained by the original system.The result proves the feasibility of the subspace identification.