Volume 30 Issue 10
Oct.  2015
Turn off MathJax
Article Contents
Article Navigation >  Journal of Aerospace Power  > 2015  >  30(10): 2523-2530
ZHANG Xing-wen, CHEN Ming, MA Yi-min, WANG Bao-bing. Identification of unmanned coaxial helicopter model based on UKF[J]. Journal of Aerospace Power, 2015, 30(10): 2523-2530. doi: 10.13224/j.cnki.jasp.2015.10.027
Citation: ZHANG Xing-wen, CHEN Ming, MA Yi-min, WANG Bao-bing. Identification of unmanned coaxial helicopter model based on UKF[J]. Journal of Aerospace Power, 2015, 30(10): 2523-2530. doi: 10.13224/j.cnki.jasp.2015.10.027
shu

Identification of unmanned coaxial helicopter model based on UKF

doi: 10.13224/j.cnki.jasp.2015.10.027

  • School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 2014-11-03
  • Publish Date: 2015-10-28
    Abstract
  • Nonlinear model of the unmanned coaxial helicopter system was built, and on account of considering its strong nonlinear character, as well as the aerodynamic parameters were variable under different flight modes, the unscented Kalman filter (UKF) was introduced to solve the nonlinear model identification problem of coaxial helicopter. It did not only avoid the limitations that linear model was only appropriate to hover modes of helicopter model, but also provided the basis for the online adaptive control of helicopter system, in which autonomous unmanned coaxial helicopter's full envelope flight could be possible. Identification of the FH-1 unmanned coaxial helicopter developed by Beijing University of Aeronautics and Astronautics was simulated by the approach and the predictive error method(PEM). Simulation experiment results show that the online identification of coaxial helicopter nonlinear system based on UKF does not depend on the selection of initial parameters, parameters can converge within the validity period of 10s, and the accuracy of identification reached 80%,which is higher than the classical PEM, so it has a certain practicality.

     

    • FullText(HTML)
  • loading
    • References(18)
  • [1]
    王强,陈铭,王保兵,等.旋翼几何参数对共轴双旋翼悬停性能的影响[J].航空动力学报,2014,29(6):1434-1443. WANG Qiang,CHEN Ming,WANG Baobing,et al.Effect of geometric parameters of rotor on hovering performance of coaxial rotor[J].Journal of Aerospace Power,2014,29(6):1434-1443.(in Chinese)
    [2]
    周国仪,胡继忠,曹义华,等.共轴式直升机双旋翼载荷计算模型研究[J].航空动力学报,2003,18(3):343-347. ZHOU Guoyi,HU Jizhong,CAO Yihua,et al.Mathematic model for twin rotor loads of coaxial helicopter[J].Journal of Aerospace Power,2003,18(3):343-347.(in Chinese)
    [3]
    Koehl A,Rafaralahy H,Boutayeb M,et al.Aerodynamic modelling and experimental identification of a coaxial-rotor UAV[J].Journal of Intelligent and Robotic Systems,2012,68(1):53-68.
    [4]
    Kumar R,Ganguli R,Omkar S N,et al.Rotorcraft parameter identification from real time flight data[J].Journal of Aircraft,2008,45(1):333-341.
    [5]
    WANG Xiaodong,ZHAO Xiaoguang,TAN Min.Modeling,identification and robust control of yaw dynamics of small-scale unmanned helicopters[C]//5th International Conference on Natural Computation.Piscataway,NJ,USA:IEEE,2009:273-276.
    [6]
    宋彦国,孙涛.旋翼飞行器飞行动力学系统辨识建模算法[J].南京航空航天大学学报,2011,43(3):387-392. SONG Yanguo,SUN Tao.System identification modeling of rotorcraft flight mechanics[J].Journal of Nanjing University of Aeronautics and Astronautics,2011,43(3):387-392.(in Chinese)
    [7]
    赵志刚,苟向峰,吕恬生.基于GA的小型无人直升机航向模型进化辨识[J].机器人,2010,32(3):439-442. ZHAO Zhigang,GOU Xiangfeng,LÜ Tiansheng.GA-based model evolutionary identification for yaw channel of small-scale unmanned helicopter[J].Robot,2010,32(3):439-442.(in Chinese)
    [8]
    Cheng R,Tischler M,Schulein,G.RMAX helicopter state-space model identification for hover and forward-flight[J].Journal of the American Helicopter Society,2006,51(2):202-210.
    [9]
    Raptis I,Valavanis K.Linear and nonlinear control of small-scale unmanned helicopters[M].Dordrecht,Netherlands:Springer,2011.
    [10]
    Pamadi B N.Performance,stability,dynamics,and control of airplanes[M].2nd ed.Hampton,Virginia:AIAA,2003.
    [11]
    潘泉,杨峰,叶亮,等.一类非线性滤波器:UKF综述[J].控制与决策,2005,20(5):481-489. PAN Quan,YANG Feng,YE Liang,et al.Survey of a kind of nonlinear filters:UKF[J].Control and Decision,2005,20(5):481-489.(in Chinese).
    [12]
    Schafroth D M.Aerodynamics,modeling and control of an autonomous micro helicopter[D].Zürich,Switzerland:Swiss Federal Institute of Technology,2010.
    [13]
    Schafroth D,Bermes C,Bouabdallah S,et al.Modeling,system identification and robust control of a coaxial micro helicopter[J].Control Engineering Practice,2010,18(7):700-711.
    [14]
    Jategaonkar R V,Plaetschke E.Algorithms for aircraft parameter estimation accounting for process and measurement noise[J].Journal of Aircraft,1989,26(4):360-372.
    [15]
    Garcfa-Velo J,Walker B K.Aerodynamic parameter estimation for high performance aircraft using extended Kalman filtering[J].Journal of Guidance,Control,and Dynamics,1997,20(6):1257-1259.
    [16]
    蔡金狮.飞行器系统辨识学[M].北京:国防工业出版社,2005.
    [17]
    Julier S J,Uhlmann J K.Unscented filtering and nonlinear estimation[J].Proceedings of the IEEE Aerospace and Electronic Systems,2004,92(3):401-422.
    [18]
    Chowdhary G,Jategaonkar R.Aerodynamic parameter estimation from flight data applying extended and unscented Kalman filter[J].Aerospace Science and Technology,2010,14(2):106-117.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF(1222.0KB)
    XML

    Article Metrics

    Article views (1107) PDF downloads(579) Cited by()
    Proportional views
    Related

    Copyright © 《Journal of Aerospace Power》 All Rights Reserved.

    Supported by: Beijing Renhe Information Technology Co., Ltd.  

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return