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Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model

A technology of aerodynamic parameters and mathematical models, which is applied in aerodynamic tests, machine/structural component testing, measuring devices, etc., can solve problems such as difficulty in ensuring model accuracy, difficulty in realization, and complex identification process for UAVs, and achieve improved Convenience and versatility, reduced dependence on experimental conditions, simple identification process

Active Publication Date: 2012-06-20
FLIGHT AUTOMATIC CONTROL RES INST
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Problems solved by technology

[0002] At present, for the acquisition of unknown aerodynamic parameters in the UAV mathematical model, one method is to use the wind tunnel experiment technology to obtain the aerodynamic mathematical model of the UAV through blowing, but the cost of the experiment is relatively high, and for the rotor-type unmanned It is difficult to guarantee the model accuracy of aircraft; the other is to use CIFER software based on frequency domain identification technology to obtain unknown parameters, but it has high requirements for flight test experiments, it is difficult to implement, and the identification process is very complicated and has poor versatility. Model Frequency Domain Identification Method-CIFER Algorithm Research", Zou Yu, Pei Hailong, Liu Xin, Zhou Hongbo, etc., Electro-optic and Control, May 2010, Volume 17, Issue 5

Method used

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  • Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model
  • Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model
  • Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model

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Embodiment 1

[0025] The single-rotor unmanned helicopter is equipped with a flight data recording unit, and the above method is used to obtain the unknown aerodynamic parameters in the mathematical model of the unmanned helicopter.

[0026] 1. Determine the linear parametric model of the single-rotor unmanned helicopter as:

[0027] Δ x · = AΔx + BΔu

[0028] u=[δ lat δ lon δ col δ ped ] T

[0029] A = X u 0 0 0 0 - g X als 0 0 ...

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Abstract

The invention relates to an improved method for acquiring unknown pneumatic parameters in a UAV (Unmanned Aerial Vehicle) mathematical model, belonging to a UAV model identification technology. The improved method comprises the following steps of: determining a model structure of a UAV according to theoretical derivation; acquiring test flight data by a test flight step; and acquiring the unknown parameters in a parameterized model by utilizing a method combining a predication error algorithm with an improved particle swarm optimization algorithm so as to realize identification work of the model. The improved method disclosed by the invention has the advantages of no need of a wind tunnel test, convenience for a test flight test, simple identification process and high model precision. According to the improved method disclosed by the invention, dependence on test equipment and test conditions is greatly reduced, and convenience and generality of model parameter acquisition are improved.

Description

technical field [0001] The invention belongs to the UAV model identification technology and relates to the improvement of the method for obtaining unknown aerodynamic parameters in the UAV mathematical model. Background technique [0002] At present, for the acquisition of unknown aerodynamic parameters in the UAV mathematical model, one method is to use the wind tunnel experiment technology to obtain the aerodynamic mathematical model of the UAV through blowing, but the cost of the experiment is relatively high, and for the rotor-type unmanned It is difficult to guarantee the model accuracy of aircraft; the other is to use CIFER software based on frequency domain identification technology to obtain unknown parameters, but it has high requirements for flight test experiments, it is difficult to implement, and the identification process is very complicated and has poor versatility. Model Frequency Domain Identification Method-CIFER Algorithm Research", Zou Yu, Pei Hailong, Li...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M9/08
Inventor 周海军雷志荣唐强樊峪
Owner FLIGHT AUTOMATIC CONTROL RES INST
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