System modeling method for small rotor unmanned aerial vehicle on basis of closed loop subspace identification

Abstract

The invention provides a system modeling method for a small rotor unmanned aerial vehicle on the basis of closed loop subspace identification. On the basis of the characteristics of a subspace identification algorithm and a closed loop control system of the small rotor unmanned aerial vehicle, the closed loop control system of the small rotor unmanned aerial vehicle is divided into a deterministicpart and a random part by means of orthogonal decomposition; by decoupling the correlation between input signals and noise of the closed loop control system of the small rotor unmanned aerial vehicle, a closed loop control system model of the small rotor unmanned aerial vehicle is accurately identified. According to the system model, an augmented matrix gamma of the system is estimated and acquired on the basis of a Hankel matrix constructed by input data and output data of the small rotor unmanned aerial vehicle, and then the least squares algorithm is used for obtaining a state space matrixof the system. The uncertainty problem caused by modeling errors of system or caused by change of system parameters and noise is solved, and the asymptotic stability and robustness of the closed loopsystem can be ensured.

Description

technical field [0001] The invention relates to the technical field of automatic control of unmanned aerial vehicles, in particular to a system modeling method for small rotor unmanned aerial vehicles based on closed-loop subspace identification. Background technique [0002] Due to its light weight, small size, vertical take-off and landing, and easy-to-hover characteristics, the small rotor unmanned aerial vehicle has a wide range of uses in military and civilian fields. In order to realize the precise control of the rotor UAV, it is necessary to have an accurate model. However, due to the complex mechanical characteristics of the rotor UAV system itself, theoretical modeling becomes particularly difficult. [0003] State feedback control is to multiply each state variable of the system by the corresponding feedback coefficient, feed it back to the input terminal, add it to the reference input, and use the sum as the control signal of the controlled system. In the tradit...

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Problems solved by technology

[0004] Aiming at the shortcomings of the existing methods, the present invention proposes a system modeling method for small rotor UAVs based on closed-loop subspace identification to solve the above-mentioned problems in the prior art

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