Modeling method of multi-rotor aircraft transfer function model based on frequency domain identification

A technology of multi-rotor aircraft and transfer function, which is applied in the modeling of multi-rotor aircraft transfer function model, and in the field of multi-rotor aircraft transfer function model modeling based on frequency domain identification, which can solve the problem of too large error of solution results, deviation of identification results, identification failure and other problems, to achieve the effects of saving time and economic costs, simplifying the identification process, and improving modeling efficiency

CN113901572BActive Publication Date: 2022-03-04AVIC JINCHENG UNMANNED SYST CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-03-04

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Abstract

The invention discloses a multi-rotor aircraft transfer function model modeling method based on frequency domain identification. The method automatically generates frequency sweep signals through the flight control unit for flight tests, and obtains a database for non-parametric identification and transfer function identification in the frequency domain; Then the spectrum estimation is performed on the flight data, and the frequency response of the channel to be identified is calculated; finally, the transfer function model of the multi-rotor aircraft is identified and verified by the frequency domain output error method. This method can well adapt to the unstable characteristics of multi-rotor aircraft, and the identification process is simple; the method of identifying the flight dynamics model of multi-rotor aircraft in the frequency domain of the transfer function model can efficiently obtain high-confidence models for different types of UAVs. The test period is within 2 days and can be verified repeatedly. It does not need to invest a lot of research and development costs in wind tunnel tests to obtain aerodynamic derivatives like the existing technology. Compared with the existing technology, it saves a lot of time and economic costs, and has higher reliability. high.
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Description

technical field

[0001] The invention relates to a multi-rotor aircraft transfer function model modeling method, in particular to a multi-rotor aircraft transfer function model modeling method based on frequency domain identification; it belongs to the technical field of multi-rotor aircraft flight dynamics modeling. Background technique

[0002] A high-confidence flight dynamics model is an important basis for multi-rotor aircraft flight control design, flight quality assessment, and controller performance optimization. In the traditional mechanism modeling work, the main difficulty lies in the establishment of the aerodynamic model and the calculation of the moment of inertia. Since the aerodynamic characteristics of multi-rotor aircraft are more complex, it takes a lot of time and effort to establish high-precision flight dynamic characteristics. Wind tunnel test is one of the means to establish a highly accurate flight dynamics model, but it requires high research and de...

Examples

Embodiment 1

[0077] In order to better understand and implement the present invention, the pitch angle on the longitudinal channel is taken as an example for specific description below through Embodiment 1.

[0078] , Establish flight test database

[0079] (1) Collect the input excitation signal , , , and output signal , , , , , , , , ;

[0080] (2) Calculate the automatic frequency sweep signal: ,

[0081] Among them, A is the amplitude of the frequency sweep signal, which is a sinusoidal signal with a maximum stroke of 15%; Enter the total time for the sweep; with are the minimum identification frequency and the maximum identification frequency respectively, and the system collects these data and sends them to the automatic frequency sweep signal generation module for calculation;