Light unmanned aerial vehicle electrodynamic system identification method and apparatus

A power system and electromechanical technology, which is applied in the field of identification method and device of light unmanned aerial vehicle electric power system, can solve problems such as identification parameters, and achieve the effect of avoiding adverse effects

Active Publication Date: 2019-01-04
CIVIL AVIATION FLIGHT UNIV OF CHINA
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  • Description
  • Claims
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Problems solved by technology

For nonlinear differential systems, it is difficult to us...

Method used

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  • Light unmanned aerial vehicle electrodynamic system identification method and apparatus
  • Light unmanned aerial vehicle electrodynamic system identification method and apparatus
  • Light unmanned aerial vehicle electrodynamic system identification method and apparatus

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] figure 1Schematic diagram of the design idea for the code disc. Firstly, the air propeller blade in the electric power system of the light-duty UAV is equivalent to a rectangular blade without twisting, where the length is the blade span length, the width is the average chord length of the blade, and the thickness is the thickness at the average chord length, and its Moment of inertia; secondly, make the moment of inertia of the code disk equal to that of the air propeller, and compensate the uniform gap equivalently. The width of the gap is approximately equal to the average chord length of the blade; finally, use the additive technology printer to make the code disk with ABS as the material.

[0041] figure 2 Schematic diagram of the working of the ground test setup. The device is used to measure the relevant performance parameters...

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Abstract

The invention discloses a light unmanned aerial vehicle electrodynamic system identification method and apparatus, and the method includes setting up Hammerstein-type nonlinear differential equation structure of mathematical model in time domain of electrodynamic system of light unmanned aerial vehicle, including first-order linear differential element and second-order power nonlinear element, identifying linear link parameters: a photoelectric encoder disk with equal moment of inertia is used to replace the air propeller to simulate the inertia force of accelerating rotation; obtaining the time constant and amplification coefficient of the first order linear differential link from the output speed response by giving a step signal; identifying nonlinear link parameters: the nonlinear linkdoes not involve differential terms, and the nonlinear link parameters can be fitted by multiple sets of steady-state input-output relations. As that method relate to by the invention is more objective and accurate than the traditional technology, the disadvantageous influence caused by the nonlinear term generate by the aerodynamic force of the propeller can be well avoided when the differentialterm is dynamically identified; the invention uses the ground testing device, and can collect the rotational speed response on line and accurately.

Description

technical field [0001] The invention relates to the technical field of light unmanned aerial vehicles, in particular to a method and device for identifying the electric power system of a light unmanned aerial vehicle. Background technique [0002] Light UAVs in the civilian field, especially multi-rotor UAVs, mostly use electric power devices. A typical electric power unit consists of an electronic governor, a DC motor and an air propeller, and converts the electrical energy from the battery into aerodynamic power, which is the main power for providing lift or attitude adjustment for the drone. The magnitude of the aerodynamic torque is monotonously related to the rotational speed (or shaft angular velocity) of the air propeller, and the rotational speed is determined by the DC power regulated by the digital signal. Therefore, the time-domain relationship between the digital signal and the speed of the air propeller constitutes the input-output model of the electric power d...

Claims

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Application Information

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IPC IPC(8): B64F5/00B64F5/60
CPCB64F5/00B64F5/60
Inventor 安斯奇侯宽新刘晓锋陈丹晴崔毅
Owner CIVIL AVIATION FLIGHT UNIV OF CHINA
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