An improved MIT-MRAI four-rotor unmanned aerial vehicle parameter identification method

A quad-rotor UAV and parameter identification technology, applied in the field of system identification, can solve the problems of difficult measurement, unknown parameters of quad-rotor UAV system model, etc., and achieve the effects of easy implementation, improved accuracy, and reduced experimental environment requirements.

Active Publication Date: 2019-06-25
ROCKET FORCE UNIV OF ENG
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: how to design a simple and feasible method to identify the corresponding parameters for the unknown or difficult to measure parameters of the four-rotor UAV system model. Therefore, an improved MIT-MRAI is provided. The parameter identification method of the four-rotor UAV, which uses the improved suspension method to solve the moment of inertia of the UAV around the three axes, so that the period measurement method of the suspension method is more accurate

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  • An improved MIT-MRAI four-rotor unmanned aerial vehicle parameter identification method
  • An improved MIT-MRAI four-rotor unmanned aerial vehicle parameter identification method
  • An improved MIT-MRAI four-rotor unmanned aerial vehicle parameter identification method

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[0058] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings and actual flight experiments.

[0059] First, according to the mechanism modeling method, the space motion equation of the quadrotor UAV is established, and after analysis, the parameter to be identified is the moment of inertia I of the UAV around the three axes x , I y , I z And aerodynamic parameters b, d. where b is the lift coefficient of the rotor and d is the drag coefficient of the rotor.

[0060] Then, use the suspension method to solve the moment of inertia around the three axes of the UAV. The process is: use the double-wire suspension method to measure the Z-axis moment of inertia; use the four-wire suspension method to measure the Z-axis moment of inertia, as figure 1 shown. The moment of inertia measurement formula is:

[0061] J=mgr 2 T 2 / 4π 2 L

[0...

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Abstract

The invention discloses an improved MIT-MRAI four-rotor unmanned aerial vehicle parameter identification method which comprises the following steps: step 1, establishing a spatial motion equation of aquadrotor unmanned aerial vehicle based on a mechanism modeling method; 2, selecting related parameters needing to be identified according to the established model; 3, solving the rotational inertiaof the unmanned aerial vehicle around three axes by using a suspension line method; 4, utilizing the improved MIT-MRAI parameter identification method to identify the lift coefficient and the resistance coefficient of the rotor. The improved suspension line method is adopted to solve the rotational inertia of the unmanned aerial vehicle around the three axes, so that the suspension line method period measurement mode is more accurate.

Description

technical field [0001] The invention belongs to the field of system identification, and in particular relates to an improved MIT-MRAI parameter identification method for a quadrotor UAV. Background technique [0002] Quadrotor UAV has achieved rapid development due to its flexible flight mode and wide application prospects, but the complexity of its flight control has increased the difficulty of research and development to a certain extent. Flight dynamics modeling is the basis of UAV control system design and implementation, and accurate acquisition of aircraft theoretical values, such as mass, moment of inertia, and aerodynamic parameters, is the key to establishing an accurate model. The demonstration and simulation analysis of the control scheme based on the model, and then the effectiveness of the control scheme is verified in the experiment, which is conducive to improving the efficiency of the research work. Therefore, the acquisition of the model parameters of the U...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B64F5/00
CPCY02T90/00
Inventor 席建祥王成杨小冈王乐贾枭姚辉
Owner ROCKET FORCE UNIV OF ENG
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