CN102507131B - Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model - Google Patents

Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model Download PDF

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CN102507131B
CN102507131B CN2011102944451A CN201110294445A CN102507131B CN 102507131 B CN102507131 B CN 102507131B CN 2011102944451 A CN2011102944451 A CN 2011102944451A CN 201110294445 A CN201110294445 A CN 201110294445A CN 102507131 B CN102507131 B CN 102507131B
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unmanned plane
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aerodynamic parameter
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周海军
雷志荣
唐强
樊峪
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No 618 Research Institute of China Aviation Industry
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Abstract

The invention relates to an improved method for acquiring unknown pneumatic parameters in a UAV (Unmanned Aerial Vehicle) mathematical model, belonging to a UAV model identification technology. The improved method comprises the following steps of: determining a model structure of a UAV according to theoretical derivation; acquiring test flight data by a test flight step; and acquiring the unknown parameters in a parameterized model by utilizing a method combining a predication error algorithm with an improved particle swarm optimization algorithm so as to realize identification work of the model. The improved method disclosed by the invention has the advantages of no need of a wind tunnel test, convenience for a test flight test, simple identification process and high model precision. According to the improved method disclosed by the invention, dependence on test equipment and test conditions is greatly reduced, and convenience and generality of model parameter acquisition are improved.

Description

A kind of method of obtaining unknown aerodynamic parameter in the unmanned plane mathematical model
Technical field
The invention belongs to unmanned plane Model Distinguish technology, relate to the improvement to unknown aerodynamic parameter acquisition methods in the unmanned plane mathematical model.
Background technology
At present, for the problem of obtaining of unknown aerodynamic parameter in the unmanned plane mathematical model, a kind of method is to adopt wind tunnel technique, obtains the pneumatic mathematical model of unmanned plane by blowing, but its experimental cost is higher, and be difficult to guarantee its model accuracy for rotor class unmanned plane; Another kind is to utilize the CIFER software based on the frequency domain identification technology to obtain unknown parameter, but it is had relatively high expectations to experiment in flight test, realize difficulty, and identification process is very complicated, versatility is poor, referring to " model aircraft frequency domain identification method-CIFER algorithm research ", Zou Yu, Pei Hailong, Liu Xin, Zhou Hongbo etc., electric light with control in May, 2010, the 17th the 5th phase of volume.
Summary of the invention
The objective of the invention is: propose a kind of without wind tunnel experiment, be convenient to carry out experiment in flight test, identification process is simple, model accuracy the is high unknown aerodynamic parameter acquisition methods of unmanned plane mathematical model.
Technical scheme of the present invention is: a kind of method of obtaining unknown aerodynamic parameter in the unmanned plane mathematical model, it is characterized in that, and the step of obtaining unknown aerodynamic parameter is as follows:
1, determine the structure of unmanned plane mathematical model: determine the linear parameterization model of this unmanned plane according to the structure type of unmanned plane, comprised unknown aerodynamic parameter in model, structure type is single rotor unmanned helicopter; The linear parameterization model of determining single rotor unmanned helicopter is:
Δ x · = AΔx + BΔu
u＝[δ lat?δ lon?δ col?δ ped] T
A = X u 0 0 0 0 - g X als 0 0 0 0 0 Y v 0 0 g 0 0 Y bls 0 0 0 L u L v 0 0 0 0 L als L bls 0 0 0 M u M v 0 0 0 0 M als M bls 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 - 1 0 0 - 1 / τ f 0 0 0 0 0 0 - 1 0 0 0 B als - 1 / τ f 0 0 0 0 0 0 0 0 0 Z als Z bls Z w Z r 0 0 0 N p 0 0 0 0 0 N w N r MN ped 0 0 0 0 0 0 0 0 0 K r MK rfb B = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 A lat A lon 0 0 B lat B lon 0 0 0 0 Z col 0 0 0 N col N ped 0 0 0 0
Wherein:
X=[u v p q φ θ a 1sb 1sw r r fb] t, and [u v w] be respectively the axis speed component, and [φ θ ψ] is respectively rolling, pitching and crab angle, and [p q r] is respectively rolling, pitching and yawrate, [a 1sb 1s] be flapping angle, be respectively rear chamfering and side chamfering, r fbthe gyrosystem state of feedback, [δ latδ lonδ colδ ped] tbe successively the horizontal cyclic pitch control amount of main oar, the vertical cyclic pitch control amount of main oar, main oar always apart from manipulated variable and tailrotorpiston manipulated variable, comprised unknown aerodynamic parameter in matrix A, B;
2, obtain test flight data:
2.1, unmanned plane is taken a flight test, unmanned vehicle is operated under the remote manual control operating pattern, by the aircraft trim;
2.2, obtain the pitch channel test flight data: send the pitch channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned plane pitch channel, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the pitch channel test flight data;
2.3, obtain course passage test flight data: send course passage control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is unmanned plane course passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as course passage test flight data;
2.4, obtain the roll channel test flight data: send the roll channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned machine rolling passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the roll channel test flight data;
3, carry out the aerodynamic parameter estimation: adopt recursive prediction error algorithms to carry out according to a preliminary estimate the unknown aerodynamic parameter in the unmanned plane mathematical model, obtain the thick value of aerodynamic parameter;
4, obtain aerodynamic parameter: using the thick value of aerodynamic parameter as the initial value that improves the particle cluster algorithm operation, adopt the improvement particle cluster algorithm to be calculated, obtain final aerodynamic parameter.
Advantage of the present invention is: without wind tunnel experiment, be convenient to carry out experiment in flight test, identification process is simple, and model accuracy is high.The present invention has greatly reduced the dependence to experimental facilities and experiment condition, has improved convenience and versatility that model parameter is obtained.
Embodiment
Below the present invention is described in further details.A kind of method of obtaining unknown aerodynamic parameter in the unmanned plane mathematical model, is characterized in that, the step of obtaining unknown aerodynamic parameter is as follows:
1, determine the structure of unmanned plane mathematical model: the linear parameterization model of determining this unmanned plane according to the structure type of unmanned plane, comprised unknown aerodynamic parameter in model, structure type is single rotor unmanned helicopter, for single rotor unmanned helicopter, adopt ten single order parameterized models, referring to " the layer rank flight control system design of depopulated helicopter " (" Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles "), Hyunchul Shim, PhD Thesis, University of California, Berkeley, 2000, for the fixed-wing unmanned plane, adopt nine rank parameterized models, referring to " aerodynamics and flight mechanics ", colleague Liu, publishing house of Beijing Aeronaution College, 1987.
2, obtain test flight data:
2.1, unmanned plane is taken a flight test, unmanned vehicle is operated under the remote manual control operating pattern, by the aircraft trim;
2.2, obtain the pitch channel test flight data: send the pitch channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned plane pitch channel, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the pitch channel test flight data;
2.3, obtain course passage test flight data: send course passage control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is unmanned plane course passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as course passage test flight data;
2.4, obtain the roll channel test flight data: send the roll channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned machine rolling passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the roll channel test flight data;
3, carry out the aerodynamic parameter estimation: adopt recursive prediction error algorithms to carry out according to a preliminary estimate the unknown aerodynamic parameter in the unmanned plane mathematical model, obtain the thick value of aerodynamic parameter, referring to " research of small-sized depopulated helicopter physical parameters identification problem ", Yan Chao, South China Science & Engineering University's master thesis, 2004;
4, obtain aerodynamic parameter: using the thick value of aerodynamic parameter as the initial value that improves the particle cluster algorithm operation, adopt the improvement particle cluster algorithm to be calculated, obtain final aerodynamic parameter, referring to " parameter identification based on the APSO algorithm and optimization ", Wu Yanxiang, Li Xiaobin, Sun Haiyan etc., science and technology and engineering in July, 2008, the 8th the 14th phase of volume.
Principle of work of the present invention is: at first according to theory, derive and determine the model structure without mankind's aircraft, then gather test flight data by the step of taking a flight test, the method of utilizing afterwards recursive prediction error algorithms to combine with the improvement particle cluster algorithm, unknown parameter in getting parms model, realize the identification work to model.
Embodiment 1
Single rotor unmanned helicopter has carried the flight data recording unit, adopts said method to complete obtaining of unknown aerodynamic parameter in the depopulated helicopter mathematical model.
1, the linear parameterization model of determining single rotor unmanned helicopter is:
Δ x · = AΔx + BΔu
u＝[δ lat?δ lon?δ col?δ ped] T
A = X u 0 0 0 0 - g X als 0 0 0 0 0 Y v 0 0 g 0 0 Y bls 0 0 0 L u L v 0 0 0 0 L als L bls 0 0 0 M u M v 0 0 0 0 M als M bls 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 - 1 0 0 - 1 / τ f 0 0 0 0 0 0 - 1 0 0 0 B als - 1 / τ f 0 0 0 0 0 0 0 0 0 Z als Z bls Z w Z r 0 0 0 N p 0 0 0 0 0 N w N r MN ped 0 0 0 0 0 0 0 0 0 K r MK rfb B = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 A lat A lon 0 0 B lat B lon 0 0 0 0 Z col 0 0 0 N col N ped 0 0 0 0
Wherein:
X=[u v p q φ θ a 1sb 1sw r r fb] t, and [u v w] be respectively the axis speed component, and [φ θ ψ] is respectively rolling, pitching and crab angle, and [p q r] is respectively rolling, pitching and yawrate, [a 1sb 1s] be flapping angle, be respectively rear chamfering and side chamfering, r fbthe gyrosystem state of feedback, [δ latδ lonδ colδ ped] tbe successively the horizontal cyclic pitch control amount of main oar, the vertical cyclic pitch control amount of main oar, main oar always apart from manipulated variable and tailrotorpiston manipulated variable, comprised unknown aerodynamic parameter in matrix A, B;
2, obtain test flight data:
2.1, single rotor unmanned helicopter is taken a flight test, it is operated under the remote manual control operating pattern, and by the aircraft trim;
2.2, the cutoff frequency of single rotor unmanned helicopter pitching, course and roll channel is 3～4rad/s, respectively depopulated helicopter pitching, course and roll channel are sent to the roll channel control command, control command is sinusoidal constant amplitude swept-frequency signal, and the frequency range that frequency sweep covers is 1～12rad/s;
3, adopt recursive prediction error algorithms to carry out according to a preliminary estimate the unknown aerodynamic parameter in the unmanned plane mathematical model, obtain the thick value of aerodynamic parameter;
4, using the thick value of aerodynamic parameter as the initial value that improves the particle cluster algorithm operation, adopt the improvement particle cluster algorithm to be calculated, obtain final aerodynamic parameter:
Δ x · = AΔx + BΔu
x＝[u(m/s)?v(m/s)?p(rad/s)?q(rad/s)?φ(rad)?θ(rad)?a 1s(rad)?b 1s(rad)?w(m/s)?r(rad/s)?r fb] T
u＝[δ lat(V)?δ lon(V)?δ col(V)?δ ped(V)] T
A = - 0.1778 0 0 0 0 - 9.8 - 9.8 0 0 0 0 0 - 0.3104 0 0 9.8 0 0 9.8 0 0 0 - 0.3326 - 0.5353 0 0 0 0 98.5724 208.4603 0 0 0 0.1903 - 0.2940 0 0 0 0 102.3681 - 18.7227 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 - 1 0 0 - 4.3916 2.5303 0 0 0 0 0 - 1 0 0 0 - 8.0492 - 4.3916 0 0 0 0 0 0 0 0 0 0 0 - 0.2 1.01 0 0 0 0 0 0 0 0 0 - 0.08 0.3616 - 36.79 0 0 0 0 0 0 0 0 0 2.1945 - 11.2 B = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.6155 - 6.0259 0 0 - 8.0668 - 1.5142 0 0 0 0 20 0 0 0 0.12 66.7919 0 0 0 0
With regard to the unknown parameter that has completed single rotor unmanned helicopter aerodynamic model, obtain like this.

Claims (1)

1. a method of obtaining unknown aerodynamic parameter in the unmanned plane mathematical model, is characterized in that, the step of obtaining unknown aerodynamic parameter is as follows:
1.1, determine the structure of unmanned plane mathematical model: determine the linear parameterization model of this unmanned plane according to the structure type of unmanned plane, comprised unknown aerodynamic parameter in model, structure type is single rotor unmanned helicopter; The linear parameterization model of determining single rotor unmanned helicopter is:
Δ x · = AΔx + BΔu
u＝[δ lat?δ lon?δ col?δ ped] T
A = X u 0 0 0 0 - g X als 0 0 0 0 0 Y v 0 0 g 0 0 Y bls 0 0 0 L u L v 0 0 0 0 L als L bls 0 0 0 M u M v 0 0 0 0 M als M bls 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 - 1 0 0 - 1 / τ f 0 0 0 0 0 0 - 1 0 0 0 B als - 1 / τ f 0 0 0 0 0 0 0 0 0 Z als Z bls Z w Z r 0 0 0 N p 0 0 0 0 0 N w N r MN ped 0 0 0 0 0 0 0 0 0 K r MK rfb B = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 A lat A lon 0 0 B lat B lon 0 0 0 0 Z col 0 0 0 N col N ped 0 0 0 0
Wherein:
X=[u v p q φ θ a 1sb 1sw r r fb] t, and [u v w] be respectively the axis speed component, and [φ θ ψ] is respectively rolling, pitching and crab angle, and [p q r] is respectively rolling, pitching and yawrate, [a 1sb 1s] be flapping angle, be respectively rear chamfering and side chamfering, r fbthe gyrosystem state of feedback, [δ latδ lonδ colδ ped] tbe successively the horizontal cyclic pitch control amount of main oar, the vertical cyclic pitch control amount of main oar, main oar always apart from manipulated variable and tailrotorpiston manipulated variable, comprised unknown aerodynamic parameter in matrix A, B;
1.2, obtain test flight data:
1.2.1, unmanned plane is taken a flight test, unmanned vehicle is operated under the remote manual control operating pattern, by the aircraft trim;
1.2.2, obtain the pitch channel test flight data: send the pitch channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned plane pitch channel, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the pitch channel test flight data;
1.2.3, obtain course passage test flight data: send course passage control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is unmanned plane course passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as course passage test flight data;
1.2.4, obtain the roll channel test flight data: send the roll channel control command to unmanned plane, control command is sinusoidal constant amplitude swept-frequency signal, the amplitude of sinusoidal constant amplitude swept-frequency signal represents manipulated variable, the frequency range that frequency sweep covers is 1/3 ω c～3 ω c, the cutoff frequency that ω c is the unmanned machine rolling passage, ω c is provided by unmanned plane designing unit; Unmanned plane is responded the control command of receiving, the Airborne Flight Parameter logging modle records control command and corresponding aircraft response is stored as the roll channel test flight data;
1.3, carry out the aerodynamic parameter estimation: adopt recursive prediction error algorithms to carry out according to a preliminary estimate the unknown aerodynamic parameter in the unmanned plane mathematical model, obtain the thick value of aerodynamic parameter;
1.4, obtain aerodynamic parameter: using the thick value of aerodynamic parameter as the initial value that improves the particle cluster algorithm operation, adopt and improve particle cluster algorithm and calculated, obtain final aerodynamic parameter.
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