A Modeling Method of Small Helicopter Based on Multilevel Fuzzy System
A technology of fuzzy systems and modeling methods, applied in general control systems, control/regulation systems, instruments, etc., to achieve the effect of simple design and avoiding the disaster of dimensionality
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[0111] The first step: conduct flight tests and collect data;
[0112] The forward flight speed of the unmanned helicopter is selected to be 5m / s, the uniform speed is straight and level flight at sea level, the longitudinal periodic trim is 1.5 degrees, the horizontal periodic variable pitch trim is -0.72 degrees, and the tail rotor variable pitch trim is 9.7 degrees. degrees, collective trim is 8.7 degrees, roll trim is -2.38 degrees, and pitch trim is 1.62 degrees
[0113] Under the operation of experienced operators, the UAV conducts flight tests according to the designed flight steps. At the same time, various sensors are installed on the aircraft to collect real-time data of 13 state variables of the aircraft.
[0114] Figure 2-14 is the graph of the collected flight test data of 13 state variables over time:
[0115] Step 2: Determine the universe of 13 variables and the fuzzy subset on each universe
[0116] X1(u): [-3,6], x2(v): [-20,20], x3(w): [-20,25], x4(θ): [...
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