Method and device for identifying unmanned helicopter kinetic parameters

Abstract

The invention discloses a method and a device for identifying unmanned helicopter kinetic parameters. The method comprises steps that initial estimates of to-be-identified parameters are acquired, a first system matrix and a first control matrix of the initial estimates containing the to-be-identified parameters are acquired, a response function of the system measurement data is acquired according to the acquired data, a system matrix containing the optimal solution and a coefficient matrix are acquired by utilizing a state space mode, the response function and a cost function according to the flight data, the first system matrix and the first control matrix, in combination with the update strategy, a second system matrix and a second control matrix after update are acquired; whether the second system matrix and the second control matrix satisfy the preset condition is determined, if not, the second system matrix and the second control matrix are taken as the first system matrix and the first control matrix to re-actuate the previous steps till the preset condition is satisfied, and present values of to-be-identified parameters in the second system matrix and the second control matrix are taken as identification accomplishment target values.

Description

technical field [0001] The present disclosure relates to the field of unmanned equipment control, in particular to a method and device for identifying dynamic parameters of an unmanned helicopter. Background technique [0002] Unmanned helicopter estimation and control are based on accurate dynamic reference models. In the nearly 30 years of research since the concept of unmanned helicopters was proposed in the late 1980s, although a large number of control methods have been proposed, and the problems of stabilization and tracking under hovering and low-speed flight conditions have been solved, the potential maneuverability of unmanned helicopters It has not been fully developed, and it is far from the maneuverability obtained by the flight operator through human remote control. Therefore, the current autonomous unmanned helicopter flight capability cannot meet its application requirements in civil and military applications. [0003] The advanced flight control algorithm sh...

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Problems solved by technology

[0005] The present disclosure provides a method and device for identifying dynamic parameters of an unmanned helicopter, which are used to solve the problems that the traditional frequency-domain identification method is only suitable for a single-input-single-out system, resulting in a huge amount of calculation and low identification efficiency

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