Tilting rotor wing unmanned aerial vehicle nonlinear shallow grey model identification and correction method

Abstract

The invention belongs to the field of unmanned aerial vehicle flight control, and relates to an unmanned aerial vehicle shallow grey model correction method, particularly to a method for correcting atilting rotor wing unmanned aerial vehicle nonlinear shallow grey model by combining mechanism modeling and identification modeling. The method comprises the steps: providing a nonlinear light grey model of a tilting rotor wing unmanned aerial vehicle through mechanism analysis, and after linearization, determining an identification model structure according to identification requirements; designing an identification scheme including designing an input signal and selecting a data sampling frequency and a data length, and preprocessing acquired flight test data; based on the flight test data, utilizing CIFER software to obtain a linear model of the tilting rotor wing unmanned aerial vehicle in each mode; and finally correcting the non-linear model by utilizing an identification result, andif necessary, continuously iterating the process until the linearized parameters of the non-linear model are consistent with the structure and the identification model. By means of the method, the accurate nonlinear model of the tilting rotor wing unmanned aerial vehicle can be obtained.

Description

technical field [0001] The invention belongs to the field of UAV flight control, and relates to a method for calibrating a light gray model of an UAV, in particular to a method for calibrating a non-linear model of a tilt-rotor UAV that combines mechanism modeling and identification modeling method. Background technique [0002] As a new type of vertical take-off and landing aircraft with the characteristics of both fixed-wing aircraft and helicopters, tilt-rotor UAV has been a research hotspot at home and abroad since its birth. Engine nacelles are installed on both sides of the UAV's wings, and the takeoff and landing are similar to those of a dual-rotor helicopter; when flying forward, the nacelle tilts forward, and the rotor generates forward thrust, similar to a propeller aircraft. Tilt-rotor UAVs not only have the vertical take-off and landing and air-hovering capabilities of conventional helicopters, but also have the advantages of fast speed, large load capacity, an...

AI Technical Summary

Problems solved by technology

[0003] Since the main lift of the tilt-rotor UAV is jointly generated by the wing and the rotor, in the actual flight process, especially when the mode is switched, the airflow disturbance and change between the two are very complicated, and there is serious coupling and influence

Even if the mechanism analysis of the tilt-rotor UAV is carried out, only a light gray model with uncertain parameters can be obtained

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