MIMO closed-loop subspace model identification and hovering control of a 6-DOF coaxial miniature helicopter
MIMO closed-loop subspace model identification and hovering control of a 6-DOF coaxial miniature helicopter
复制标题
六自由度同轴微型直升机MIMO闭环子空间模型识别与悬停控制
DOI：
10.1109/sice.2014.6935291
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
H. Oku
中科院分区：
文献类型：
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作者：
Jyunki Kojio;Hiroaki Ishibashi;Ryo Inoue;S. Ushida;H. Oku
本文涉及通过闭环子空间模型识别带有多输入和多输出（MIMO）状态空间模型的无线电控制（RC）Coxial微型直升机的黑盒建模，以及基于模型的控制设计使用已确定的黑盒模型悬停飞行。 RC直升机的运动具有6个自由度（6-DOF），即横向（左/右），垂直（向上/下），纵向（前尾），俯仰，滚动和偏航轴。作为RC直升机的输出，这6个位置和姿势的参数通过具有6个高速摄像机的运动捕获系统来测量。作为输入的直升机演习是由Aileron，Elevator，Rudder和Throttle完成的。进行了悬停的RC直升机的闭环系统识别实验。 CL-MOESP是闭环子空间模型识别方法之一，应用于采样的闭环数据，以便获得具有估计顺序的状态空间模型。使用确定的模型，设计了具有全州观察者的LQ控制器。最后，作为对已确定模型的验证，通过实施反馈控制器进行了悬停直升机飞行的实验。
This paper concerns black-box modeling of a radio-controlled (RC) coxial miniature helicopter by closed-loop subspace model identification with a multi-input and multi-output (MIMO) state space model, as well as model-based control design of hovering flight using the identified black-box model. The RC helicopter has 6 degrees of freedom (6-DOF) in its motions, namely, the lateral (left/right), vertical (up/down), longitudinal (fore/aft), pitching, rolling and yawing axes. These 6 parameters of the position and posture, as the outputs of the RC helicopter, are measured by a motion capture system with 6 high-speed cameras. The helicopter maneuvers, as the inputs, are done by the aileron, elevator, rudder and throttle. A closed-loop system identification experiment of the hovering RC helicopter is performed. CL-MOESP, which is one of closed-loop subspace model identification methods, is applied to the sampled closed-loop data in order to obtain a state-space model with an estimated order. Using the identified model, an LQ controller with a full-state observer is designed. Finally, as verification of the identified model, an experiment of hovering flight of the helicopter is performed with the implementation of the feedback controller.
MOESP型闭环子空间模型辨识方法
DOI：
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发表时间：
2006
期刊：
計測自動制御学会論文集 42巻6号
影响因子：
--
作者：
Hiroshi Oku;Yasuko Ogura;Takao Fujii
通讯作者：
Takao Fujii