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

A closed-loop subspace, unmanned rotor technology, used in general control systems, control/regulation systems, instruments, etc.

Active Publication Date: 2018-07-06
SHENZHEN SPROCOMM TECH CO LTD
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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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  • System modeling method for small rotor unmanned aerial vehicle on basis of closed loop subspace identification
  • System modeling method for small rotor unmanned aerial vehicle on basis of closed loop subspace identification
  • System modeling method for small rotor unmanned aerial vehicle on basis of closed loop subspace identification

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Embodiment 1

[0101] Such as figure 1 As shown, an embodiment of the present invention is provided based on a closed-loop subspace identification-based small rotor UAV system modeling method, based on the subspace identification algorithm and the characteristics of the small rotor UAV closed-loop control system, using orthogonal decomposition The transfer function of the closed-loop control system of the small-rotor unmanned aerial vehicle is decomposed into a deterministic part and a random part, and then by decoupling the correlation between the input signal and the noise of the closed-loop control system of the small-rotor unmanned aerial vehicle, an accurate identification of the small-rotor unmanned aerial vehicle is obtained. Aircraft closed-loop control system model, the steps are as follows S110-S140:

[0102] Such as figure 2 As shown, it is a structural block diagram of the system identification algorithm in the embodiment of the present invention. Due to various consideration...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 康腾黄涛刘国良费鹏曹鹏蕊
Owner SHENZHEN SPROCOMM TECH CO LTD
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