A Modeling Method of Small Helicopter Based on Multilevel Fuzzy System

A technology of fuzzy systems and modeling methods, applied in general control systems, control/regulation systems, instruments, etc., to achieve the effect of simple design and avoiding the disaster of dimensionality

Active Publication Date: 2022-07-08
北京致远飞航科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art, the present invention provides a kind of small-sized helicopter modeling method based on the multilevel fuzzy system, is to solve the problem of obtaining the mathematical model of the small-sized helicopter with the minimum cost, without the aerodynamic data situation of the small-sized helicopter, use Based on the experience and flight test data of small helicopter operators, the fuzzy system mathematical model of small helicopters is established

Method used

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  • A Modeling Method of Small Helicopter Based on Multilevel Fuzzy System
  • A Modeling Method of Small Helicopter Based on Multilevel Fuzzy System
  • A Modeling Method of Small Helicopter Based on Multilevel Fuzzy System

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Embodiment

[0111] The first step: conduct flight tests and collect data;

[0112] The forward flight speed of the unmanned helicopter is selected to be 5m / s, the uniform speed is straight and level flight at sea level, the longitudinal periodic trim is 1.5 degrees, the horizontal periodic variable pitch trim is -0.72 degrees, and the tail rotor variable pitch trim is 9.7 degrees. degrees, collective trim is 8.7 degrees, roll trim is -2.38 degrees, and pitch trim is 1.62 degrees

[0113] Under the operation of experienced operators, the UAV conducts flight tests according to the designed flight steps. At the same time, various sensors are installed on the aircraft to collect real-time data of 13 state variables of the aircraft.

[0114] Figure 2-14 is the graph of the collected flight test data of 13 state variables over time:

[0115] Step 2: Determine the universe of 13 variables and the fuzzy subset on each universe

[0116] X1(u): [-3,6], x2(v): [-20,20], x3(w): [-20,25], x4(θ): [...

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Abstract

The invention provides a small helicopter modeling method based on a multi-level fuzzy system, which aims to solve the problem of obtaining the mathematical model of the small helicopter at the minimum cost. Based on the flight test data, the fuzzy system mathematical model of the small helicopter is established. Compared with the traditional fuzzy system design, the present invention has multiple inputs and multiple outputs, and the dimension is relatively high, which leads to an exponential increase in the fuzzy rules. It is difficult to design such a huge amount of fuzzy rules, and the calculation of fuzzy reasoning is also difficult to carry out. , avoiding the "dimension disaster" of traditional multi-dimensional fuzzy system design.

Description

technical field [0001] The invention relates to the field of small helicopter flight control, in particular to a helicopter modeling method. Background technique [0002] Helicopter is a high-order nonlinear, highly coupled, multiple-input multiple-output (MIMO) system. It is not easy to establish an accurate mathematical model to describe it. For small helicopters, due to their light weight, they are more susceptible to wind interference. , adding a lot of difficulty to the flight control of small helicopters. [0003] On the other hand, to establish the mathematical model of the helicopter, it is necessary to carry out numerical simulation or wind tunnel test to obtain the aerodynamic data and quality characteristics of the helicopter, and then use the flight mechanics method to establish the mathematical model of the helicopter according to the obtained data. Whether it is numerical simulations or wind tunnel tests, obtaining these data takes a long time and requires a l...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 吴美平朱雪涛魏浩范红军邵乐华
Owner 北京致远飞航科技有限公司
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