四旋翼飞行器模型的气动参数辨识  

Identification of aerodynamic parameter for quadrotor model

作　　者：赵述龙[1] 安宏雷[1] 刘建平[1] 马宏绪[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410019

出　　处：《电子测量与仪器学报》2013年第8期744-749,共6页Journal of Electronic Measurement and Instrumentation

摘　　要：通常,四旋翼飞行器的旋翼气动参数是采用经验值或复杂计算确定的,但其结果对测量传感器精度要求高,对环境的适应性差。设计了一种组合模型机理分析与参数辨识的方法对气动参数进行估计。机理建模可以减少参数辨识的计算量,参数辨识又可以进一步提高模型的准确度,增强参数对环境的适应性。首先利用叶素理论分析了旋翼的升力和力矩,用空气动力学和牛顿欧拉方程建立了平台机构的动力学模型,然后利用辨识工具CIFER对于具有不确定因素较大的气动参数进行频域辨识。通过仿真实验,对辨识所得的模型和参数进行频域和时域的验证,其结果在低频阶段跟踪性能优异,曲线的吻合程度好,气动参数的可信度高。Generally,the value of aerodynamic parameter of quadrotor is obtained via experimental method or complex calculation.However,they have high accuracy requirement for sensors and poor adaptability for environment.In this paper,a combination of mechanism analysis and parameter identification method is designed for aerodynamic parameter estimation of quadrotor.Rotor lift and moment are analyzed using blade element theory,and the dynamic model of quadrotor platform is established using Newton Euler equation.Then,CIFER method of identification is used to set the aerodynamic parameter.Finally,the estimated parameters are verified via simulation experiment in frequency domain and time domain.The result of simulation shows that,in the low frequency phase,tracking performance is excellent,and fitting degree between identification result and flight data is coincident,so the aerodynamic parameter has high credibility.

关 键 词：四旋翼 气动参数 系统辨识 

分 类 号：N945.14[自然科学总论—系统科学]