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

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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..

摘要针对小型无人直升机小稳定、强耦合、非线性的特点，建立了小型无人直升机悬停状态下行动力学模型．设计了一种基于最小乘与自适应免疫遗传算法（LS-AIGA）的辨识算法，根据辨识实验的需要研制了机载微小型导航、制导与控制系统（MGNC）．利用飞行实验数据，根据本文的辨识算法，对所建立模型中未知参数进行了辨识．最后对得到的模型进行了验证与分析，结果表明模型辨识数据与真实飞行实验数据匹配较好，所建立模型能够反映小型无人直升机动力学特性．

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	杜玉虎
	房建成
	盛蔚
	雷旭升
	杜玉虎
	房建成
	盛蔚
	雷旭升

关键词 ：无人直升机, 飞行动力学模型, 系统辨识, 最小二乘, 自适应免疫遗传算法, 无人直升机, 飞行动力学模型, 系统辨识, 最小二乘, 自适应免疫遗传算法

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.

Key words： unmanned helicopter flight dynamics model system identification least squares adaptive immune genetic algorithm unmanned helicopter flight dynamics model system identification least square adaptive immune genetic algorithm

收稿日期: 2011-05-04 录用日期: 2011-10-27

TP242.6

基金资助:国家杰出青年科学基金资助项目（60825305）；国家自然科学基金资助重点项目（60736025）；国家自然科学基金资助项目（60905056）

通讯作者: 杜玉虎 E-mail: duyuhu@aspe.buaa.edu.cn

作者简介: 杜玉虎（1982- ），男，博士生．研究领域：无人飞行器导航、制导与控制．
房建成（1965- ），男，博士，教授．研究领域：惯性导航与组合导航，航天器姿态控制等．
盛蔚（1972- ），女，博士，教授．研究领域：惯性导航与组合导航，飞行器控制等．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I1/72

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