双转子MIMO系统建模

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI:10.1109/ROMA.2016.7847803

Tho Dang Huu, I. Ismail

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引用次数: 32

摘要

提出了一种双转子MIMO系统(TRMS)的建模方法。为简单起见，将模型分为三个通道:垂直、水平和交叉耦合通道。采用第一性原理法和最优算法相结合的混合方法对系统进行分析和建模。通过物理实验和遗传算法对模型的未知参数进行估计。将所识别模型的仿真输出和具有相同输入类型的实际系统的纵摆和偏航输出进行比较。

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Modelling of Twin Rotor MIMO system

This paper presents an approach to model Twin Rotor MIMO System (TRMS). For simplicity, the model is separated into three channels: vertical, horizontal, and cross-coupling channels. A hybrid method, a cooperation between first principle method and optimal algorithm, is used to analyse and model the system. Unknown parameters of the model are estimated by physical experiments and Genetic Algorithm. The pith and yaw outputs of the identified model in simulation and the real system with the same several types of inputs are compared with each other.

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2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)

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