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A nonlinear light gray model identification and correction method for tilt-rotor unmanned aerial vehicles

A technology of tilt rotor and linear model, which is applied in the direction of instrumentation, adaptive control, control/regulation system, etc., and can solve problems such as coupling and influence, airflow disturbance and complex changes

Active Publication Date: 2021-10-29
BEIHANG UNIV
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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

Method used

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  • A nonlinear light gray model identification and correction method for tilt-rotor unmanned aerial vehicles
  • A nonlinear light gray model identification and correction method for tilt-rotor unmanned aerial vehicles
  • A nonlinear light gray model identification and correction method for tilt-rotor unmanned aerial vehicles

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[0031] The present invention first gives the non-linear light gray model of the tilt-rotor UAV through mechanism analysis, and determines the identification model structure according to the identification requirements after linearization; then carries out the identification scheme design, including the design of the input signal, data sampling frequency and data length Then, based on the flight test data, use CIFER software to obtain the linear model of the tilt rotor UAV in each mode; finally use the identification results to correct the nonlinear light gray model, Including model parameters and model results, if necessary, iterate this process until the parameters and structure of the final nonlinear model after linearization are consistent with the identification model.

[0032] The present invention will be further described below in conjunction with the accompanying drawings and examples. It should be understood that the following examples are intended to facilitate the un...

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Abstract

The invention belongs to the field of unmanned aerial vehicle flight control, and relates to a light gray model correction method for unmanned aerial vehicles, in particular to a non-linear light gray model correction method for tilt-rotor unmanned aerial vehicles which combines mechanism modeling and identification modeling. Correction method. The present invention first gives the non-linear light gray model of the tilt-rotor UAV through mechanism analysis, and determines the identification model structure according to the identification requirements after linearization; then carries out the identification scheme design, including the design of the input signal, data sampling frequency and data length Then, based on the flight test data, use CIFER software to obtain the linear model of the tilt-rotor UAV in each mode; finally use the identification results to correct the nonlinear model, if there is It is necessary to iterate this process continuously until the parameters and structure of the linearized nonlinear model are consistent with the identification model. By using the invention, a relatively accurate nonlinear model of the tilt-rotor UAV 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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王英勋赵艳琪蔡志浩赵江王泽昕
Owner BEIHANG UNIV
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