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基于切换模型的无人直升机偏航通道系统辨识方法*

DOI: 10.16451/j.cnki.issn1003-6059.201502007, PP. 148-154

Keywords: 无人直升机,模型辨识,饱和非线性,残差修正

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Abstract:

针对直升机偏航通道中舵机控制量的饱和非线性问题,提出基于切换模型的无人直升机偏航通道系统辨识方法.首先分析无人机偏航通道的特征,建立包含饱和单元的切换模型.其次通过扫频实验采集辨识所需的数据,并在频域下采用遗传算法辨识得到切换模型的所有参数.再根据实验数据分析辨识模型的残差序列,得到系统的残差模型,并利用该残差模型修正辨识得到的无人机偏航通道模型,进一步提高模型的准确度.最后通过实验数据分析文中模型的准确性,并利用该模型设计无人机飞行控制器.实验结果也证明模型的有效性.

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