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A Dynamic Model Identification Method for Small Unmanned Rotorcraft Based on Adaptive Genetic Algorithm

An unmanned rotorcraft and genetic algorithm technology, applied in the field of autonomous control of unmanned aerial robots

Active Publication Date: 2011-12-28
BEIHANG UNIV
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Problems solved by technology

[0005] The technical problem of the present invention is: aiming at the deficiencies of the existing dynamic model identification methods for small unmanned rotorcraft, a small unmanned rotorcraft dynamics model identification method based on adaptive genetic algorithm is proposed, which solves the problem of small unmanned rotorcraft maneuvering. The problem of mechanical model identification can realize high-precision control of small unmanned rotorcraft

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  • A Dynamic Model Identification Method for Small Unmanned Rotorcraft Based on Adaptive Genetic Algorithm
  • A Dynamic Model Identification Method for Small Unmanned Rotorcraft Based on Adaptive Genetic Algorithm
  • A Dynamic Model Identification Method for Small Unmanned Rotorcraft Based on Adaptive Genetic Algorithm

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[0065] The small unmanned rotorcraft dynamic model identification method based on the adaptive genetic algorithm based on the Thunder Tiger 90 small UAV, the flight controller controls the small unmanned rotorcraft to perform the standard excitation actions of hovering and straight forward flight, and the data acquisition card collects the corresponding The status data and control data of the small unmanned rotorcraft are then identified through the adaptive genetic algorithm, and the flight data calculated based on the dynamic model of the small unmanned rotorcraft obtained through the identification of the adaptive genetic algorithm are compared with the actual test data , the comparison results of the forward speed and the actual flight forward speed are as follows: image 3 As shown, the gap between the actual test data of the pitch angle and the output of the identification system is very small, and the average error is less than 0.1m / s; Hover tasks, flight trajectories s...

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Abstract

The invention discloses a small-size unmanned rotary wing aircraft dynamic model identification method based on an adaptive genetic algorithm, which relates to flight status data acquisition and optimization, dynamic model building and parameter identification, and parameter optimization validation. Firstly, status data and control data when a small-size unmanned rotary wing aircraft executes standard actions are acquired through a data acquisition system, and smoothing and filtration are conducted to eliminate wild values; then aiming at the operating characteristics of the small-size unmanned rotary wing aircraft at autonomous takeoff and landing stages, a small-size unmanned rotary wing aircraft dynamic model is built through a balance point linearization method and model parameters are identified through the adaptive genetic algorithm; and finally intelligent parameter evaluation indexes are built and the effectiveness of the model parameters is evaluated and judged through a one-step predication method. The small-size unmanned rotary wing aircraft dynamic model identification method based on the adaptive genetic algorithm solves the problem in the dynamic model identificationof the small-size unmanned rotary wing aircraft, can realize the high-accuracy control of the small-size unmanned rotary wing aircraft, and has the advantages of low testing cost, short cycle, simplecalculation, high dynamic model accuracy and weak dependence on initial values.

Description

technical field [0001] The invention relates to a dynamic model identification method of a small unmanned rotorcraft based on an adaptive genetic algorithm, which is suitable for the autonomous control field of aerial unmanned robots. Background technique [0002] The small unmanned rotorcraft has the characteristics of vertical take-off and landing, hovering, etc., and can perform tasks in narrow spaces such as urban streets, and has a wide range of application prospects. With the expansion of the application field, the demand for the intelligence of small unmanned rotorcraft is also increasing, and the fully autonomous and highly intelligent small unmanned rotorcraft has become a research hotspot. [0003] As a complex multiple-input and multiple-output control system, small unmanned rotorcraft has the characteristics of strong coupling, nonlinearity, and high control difficulty, and its dynamic modeling is complex. The high-precision model is the basis for further high-p...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06N3/12
Inventor 雷旭升房建成李晶晶白浪杜玉虎洪晔张霄盛蔚
Owner BEIHANG UNIV
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