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Quadrotor unmanned aerial vehicle parameter distinguishing method based on improved shuffled frog leaping algorithm

A quad-rotor UAV and hybrid leapfrog algorithm technology, applied in the field of quad-rotor UAV parameter identification, can solve the problems of low parameter identification accuracy of quad-rotor UAV, slow identification speed convergence speed, etc. The effect of optimal strategy improvement and efficiency improvement

Active Publication Date: 2018-01-26
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to avoid the deficiencies of the prior art, the present invention proposes a parameter identification method for quadrotor UAVs based on the improved hybrid leapfrog algorithm, which overcomes the low accuracy of parameter identification for quadrotor UAVs in the existing parameter identification method The disadvantage of slow convergence speed

Method used

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  • Quadrotor unmanned aerial vehicle parameter distinguishing method based on improved shuffled frog leaping algorithm
  • Quadrotor unmanned aerial vehicle parameter distinguishing method based on improved shuffled frog leaping algorithm
  • Quadrotor unmanned aerial vehicle parameter distinguishing method based on improved shuffled frog leaping algorithm

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specific Embodiment

[0054] Specific embodiments: the present invention is described in detail in conjunction with a typical quadrotor UAV motion model:

[0055] refer to figure 1 , the motion model of a typical quadrotor aircraft includes two parts: angular motion and position motion, and the motion equations are:

[0056]

[0057] Among them, x, y, and z are the three-axis positions in the inertial system, φ, θ, and ψ are the roll angle, pitch angle, and yaw angle, respectively, and I x , I y , I z are the moments of inertia of the three axes, J r is the moment of inertia of the rotor, m is the mass of the aircraft, u 1 is the lift generated by the rotor, u 2 , u 3 and u 4 are the roll, pitch and yaw moments, respectively, Ω i is the rotational speed of each rotor.

[0058] The input to the selection system is:

[0059] u=[u 1 u 2 u 3 u 4 u 5 ] T (8)

[0060] The system status is:

[0061]

[0062] The parameters to be identified are:

[0063] I param =[I x I ...

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Abstract

The invention relates to a quadrotor unmanned aerial vehicle parameter distinguishing method based on an improved shuffled frog leaping algorithm. The shuffled frog leaping algorithm is taken as a basis, a frog leaping rule in the algorithm is improved, the global convergence rate of the shuffled frog leaping algorithm is improved, a fitness function is designed according to quadrotor unmanned aerial vehicle parameters, the computation complexity of the algorithm is reduced, and quadrotor unmanned aerial vehicle parameter distinguishing efficiency is improved. The method exhibits certain universality, and parameter distinguishing for the majority of nonlinear systems with a high coupling degree can be realized.

Description

technical field [0001] The invention belongs to a parameter identification method for a quadrotor UAV, and relates to a parameter identification method for a quadrotor UAV based on an improved hybrid leapfrog algorithm, which mainly identifies nonlinear parameters of a typical quadrotor UAV in a working state. Background technique [0002] With the wide application and rapid development of quadrotor drones, the demand for control accuracy of quadrotor drones is also increasing. To achieve high-precision control of quadrotor drones, it is necessary to obtain accurate models of quadrotor drones. , so the accurate modeling of the quadrotor UAV is the key technical issue to realize the precise control of the quadrotor UAV. [0003] Accurate identification of quadrotor UAV parameters is the prerequisite for accurate modeling of quadrotor UAV. Due to the strong nonlinearity and coupling of typical quadrotor UAV parameters, it is difficult to accurately identify the parameters in ...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 王佩姜海旭张科吕梅柏刘广哲王无为徐有新李伟
Owner NORTHWESTERN POLYTECHNICAL UNIV
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