A Parameter Identification Method for Quadrotor UAV Based on Extremum Search Algorithm

Abstract

A parameter identification method for a quadrotor UAV based on an extremum search algorithm relates to the field of system identification. In order to solve the problem that the physical parameters of the quadrotor UAV are unknown or cannot be accurately measured. The dynamic model of the quadrotor UAV is established through mechanism modeling, and the relevant parameters to be identified are selected according to the established model; the objective function of parameter identification of the quadrotor UAV is established based on the extreme value search algorithm; two sets of excitation signals are input to the model, The gradient information of the UAV parameter identification objective function is extracted by the extreme value search algorithm, and searched along the negative gradient direction until it reaches the extreme value, that is, the corresponding model parameters are obtained. This method has prior knowledge of independent parameters, and is different from the existing four-rotor UAV model for approximate linearization, and can obtain accurate UAV nonlinear model parameters; the closed-loop multi-parameter identification of the present invention has relatively With few constraints, the identification can be completed for the coupled input data.

Description

technical field [0001] The invention relates to the field of system identification; more specifically, it relates to a parameter identification method of a quadrotor UAV based on an extremum search algorithm. Background technique [0002] The quadrotor UAV has the characteristics of simple structure, strong maneuverability, and vertical take-off and landing. In recent years, it has been more and more widely used in military and civilian fields: Many important functions such as strike, escort, and target search; in the civilian field, UAVs are used to perform tasks including disaster relief, aerial photography, and short-distance transportation. Consumer-grade drones have begun to enter people's daily lives. Amazon has begun to try to use drones for express delivery, which greatly shortens the delivery time. SF Express is also testing the waters in this industry. In terms of movies, variety shows, etc., aerial photography drones have also become a big help. [0003] However...

AI Technical Summary

Problems solved by technology

[0005] The invention aims at the problem that the physical parameters of the quadrotor UAV are unknown or cannot be accurately measured, and further provides a parameter identification method for the quadrotor UAV based on the extreme value search algorithm

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