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Online modeling method of flying robot dynamics model

A technology of flying robots and dynamic models, which is applied in the direction of instruments, simulators, control/regulation systems, etc., and can solve problems such as the inability to realize the parameter correction of the online modeling system of flying robots

Inactive Publication Date: 2014-07-23
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1
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Problems solved by technology

[0007] Aiming at the technical gap that the existing flying robot model building method and system software simulation platform cannot realize online modeling for flying robots, system parameter correction based on model differences, control algorithms, system functions, and system hardware debugging, this paper proposes On-line modeling method for dynamic model of flying robot

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  • Online modeling method of flying robot dynamics model
  • Online modeling method of flying robot dynamics model
  • Online modeling method of flying robot dynamics model

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Embodiment Construction

[0038] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0039] By simulating the accelerometer, gyroscope and other sensor information and forming a data packet to send to the flight robot on-board controller 3-1, after the control algorithm generates the control amount to realize the function and complete the flight task, form a data packet and send it to the flying robot power learning model to generate corresponding control effects, and use the flying robot flight attitude display / view display computer 1 to realize the three-dimensional display of the flying robot and its flying environment, and then complete the control algorithm design and policy verification of the flying robot flight control system; at the same time The execution steering gear 3-3 of the flying robot can be connected with the onboard controller 3-1 of the flying robot, so as to visually verify the correctness of the control signal gene...

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Abstract

The invention relates to an online modeling method of a flying robot dynamics model. The method comprises steps: a flying robot dynamics reference model is built in a flying robot dynamics module simulation computer; the flying robot flies and flying state information is sent in real time to the flying robot dynamics module simulation computer; and the flying robot dynamics module simulation computer updates in real time the flying state information contained in the dynamics reference model, the value of modeling parameters inside the dynamics reference model is obtained according to modeling noise, the value of the modeling parameter is in real time used in the flying robot dynamics reference model, and online modeling of the flying robot dynamics model is realized. According to the online modeling method of a flying robot dynamics model, true dynamics of the flying robot can be reflected in real time, the method is convenient and simple, computer programming and realization are facilitated, and verification of control algorithm on a simulation platform is facilitated.

Description

technical field [0001] The invention relates to an active modeling semi-physical simulation platform for on-line analysis of dynamic model differences of flying robots, in particular to an online active modeling method based on the difference of flying robot models based on the combination of software and hardware structures. Background technique [0002] In order to meet the needs of flying robots in the control system software design and the early verification of key technologies, domestic and foreign scholars have built various software simulation (Software in the loop simulation, SILS) platforms for different applications of flying robots. However, a single software simulation platform cannot meet the online model analysis and active modeling of flying robots working in different modes, the control system's requirements for control algorithms, system functions, and combined system hardware debugging and research. [0003] Semi-physical simulation, also called semi-physic...

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Application Information

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IPC IPC(8): G05B17/02
Inventor 韩建达燕福龙齐俊桐刘刚吴镇炜夏泳宋大雷王子铭赵碧川杜科
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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