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A self-adaptive anti-vibration control method for unmanned helicopter

A technology of unmanned helicopter and control method, which is applied in the field of unmanned helicopter control and active control of unmanned helicopter body structural periodic external disturbance response vibration, which can solve the problem that the periodic disturbance is not small, fluctuates, and the vibration does not have a stable period and amplitude. Value and other issues, to achieve the effect of strong adaptability, large working range and good effect

Active Publication Date: 2015-12-30
NANCHANG HUAMENGDA AVIATION TECH DEV
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Problems solved by technology

However, in practical engineering, the periodic disturbances generated by numerous rotating machines are not tiny, and when dealing with the problem of vibration suppression, the assumption of tiny random external disturbances is obviously inappropriate
Moreover, in the process of mechanical work, the vibration generated does not have a stable period and amplitude, and there may be small fluctuations

Method used

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  • A self-adaptive anti-vibration control method for unmanned helicopter
  • A self-adaptive anti-vibration control method for unmanned helicopter
  • A self-adaptive anti-vibration control method for unmanned helicopter

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Embodiment Construction

[0015] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0016] The first step is to identify the parameters of the control system with external disturbances

[0017] Generally speaking, MIMO systems have four description forms, namely, input-output differential equation model, transfer function matrix model, impulse response matrix model, and state-space model. They are equivalent and interchangeable. For system identification, the first three models are easy to obtain, and they can be directly identified by using measurable input and output data.

[0018] The present invention uses the measured input and output data to obtain the transfer function model through identification, and then converts the pulse transfer function model into an ARX model to describe the control channel.

[0019] Assuming that the controlled channel system has r inputs and m outputs, its transfer function matrix is:

[0020] (1)

[0021] In t...

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Abstract

The invention provides a self-adaption shock resistance control method of an unmanned helicopter. The method mainly comprises the two following steps that firstly, an RLS algorithm is adopted to achieve the on-line identification of a system, a system model with the external disturbance is identified out, and then an LMS algorithm is adopted to update a control law. In the real-time control process, calculation of identification and calculation of control are finished through a high-speed digital signal processor. Through simulation study of active control over vibration of a helicopter body of the unmanned helicopter, the effectiveness of the method is verified.

Description

technical field [0001] The invention relates to a control method for an unmanned helicopter, in particular to an active control method for structural period external disturbance response vibration of an unmanned helicopter body with on-line identification and adaptive control capabilities. The invention belongs to the technical field of aerospace unmanned aerial vehicles. Background technique [0002] The active control of structural vibration with online identification function is a hot and difficult point in vibration control research today, and it has important theoretical significance and application value. In the feedforward control based on adaptive filtering technology, the identification of the control channel (secondary channel, error channel, SecondaryPath) becomes one of the most important links, thus attracting many researchers to study. Zhang Ming et al. made a comprehensive comparison and summary of the feedforward control based on the filter-xLMS algorithm, an...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D19/02
Inventor 贾杰徐卫平涂世武
Owner NANCHANG HUAMENGDA AVIATION TECH DEV
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