无人动力伞9自由度建模及模型辨识研究  

Research on 9-DOF Modeling and Model Identification of Unmanned Powered Parafoil

作　　者：谢志刚[1] 陈自力[1] 何应德[2] 

机构地区：[1]军械工程学院 [2]中国人民解放军93670部队

出　　处：《无线电工程》2011年第6期32-35,共4页Radio Engineering

摘　　要：对具有独特飞行特性的无人动力伞进行了研究,建立了无人动力伞9自由度非线性动力学模型。针对无人动力伞飞行特性具有的不确定性、非线性和复杂性特点,研究了基于观测器/卡尔曼滤波辨识算法和直接状态空间模型辨识算法。根据系统的飞行数据,辨识得到系统的纵向状态空间模型,分析了2种算法的辨识速度和辨识精度。辨识模型的仿真结果表明了辨识算法的可行性和有效性。The unmanned powered parafoil（UPP） with special flight characteristics is studied,and a 9-DOF nonlinear dynamic equation is established.Aiming at the uncertainty,nonlinearity,and complexity of UPP flight characteristics,the observer/kalman filter identification method（OKID） and direct state space model identification method（DSSMI） are studied.Based on flight data,the longitudinal state space models of UPP is identified and derived,and the identified speed and identified precision are analyzed.The feasibility and validity of the identification method were verified in a simulation experiment.

关 键 词：无人动力伞系统 建模 观测器/卡尔曼滤波辨识 直接状态空间模型辨识 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]