Modeling a Small-size Unmanned Helicopter Using Optimal Estimation in The Frequency Domain

被引：3
|
作者：
Song, Dalei [1 ,2 ]
Qi, Juntong [1 ,2 ]
Dai, Lei [1 ,2 ]
Han, Jianda [1 ]
Liu, Guangjun [3 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning Prov, Peoples R China
[2] Chinese Acad Sci, Grad Sch, Beijing, Peoples R China
[3] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B2K3, Canada
来源：
2008 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2008年
基金：
中国国家自然科学基金;
关键词：
small-size unmanned helicopter; helicopter model; optimal estimation; hover; frequency domain;
D O I：
10.1109/MMVIP.2008.4749514
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An optimal estimation algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain.
引用
收藏
页码：97 / +
页数：2
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