Identification of Small-scale Unmanned Helicopter Based on Least Squares and Adaptive Immune Genetic Algorithm
DU Yuhu, FANG Jiancheng, SHENG Wei, LEI Xusheng
Science and Technology on Inertial Laboratory, Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory, Beihang University, Beijing 100191, China
杜玉虎, 房建成, 盛蔚, 雷旭升. 基于最小二乘与自适应免疫遗传算法的小型无人直升机系统辨识[J]. 机器人, 2012, 34(1): 72-77..
DU Yuhu, FANG Jiancheng, SHENG Wei, LEI Xusheng. Identification of Small-scale Unmanned Helicopter Based on Least Squares and Adaptive Immune Genetic Algorithm. ROBOT, 2012, 34(1): 72-77..
Abstract:Aiming at the instability,strong coupling and nonlinearity of small-scale helicopter(SUH),a flight dynamics model of SUH under hovering state is established.Then an identification algorithm is designed based on least squares and adaptive immune genetic algorithm(LS-AIGA),and an airborne micro navigation,guidance and control system(MGNC) is developed for the needs of identification experiment.Then unknown parameters of the model are identified using flight test data according to the proposed identification algorithm.Finally,the established model is validated and analyzed,and the results show that the model identification data and the actual flight test data match well,and the established model can reflect the dynamics characteristics of the SUH.
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