四旋翼微型无人机建模与ARX辨识

2015 9th International Conference on Electrical and Electronics Engineering (ELECO) Pub Date : 2015-11-01 DOI:10.1109/ELECO.2015.7394513

Atakan Sarioglu, A. Kural

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引用次数: 7

摘要

在这项工作中，一个微型的，无线电控制的四旋翼是建模和黑箱模型发现使用实时飞行数据。在这项工作中使用的四旋翼飞行器配备了一个特殊的遥测电路来收集实时数据。欧拉角与电机转速数据被用来识别非线性旋转子系统的四旋翼作为准线性ARX(自回归外生)模型。对ARX模型的性能进行了测试，结果令人满意。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling and ARX identification of a quadrotor MiniUAV

In this work, a miniature-sized, radio controlled quadrotor is modeled and a black-box model is found using real-time flight data. The quadrotor which is used in this work is equipped with a special telemetry circuit to collect real-time data. Euler angles versus motor speeds data is used to identify the nonlinear rotational subsystem of the quadrotor as a quasi-linear ARX (auto-regressive exogenous) model. The ARX model performances are tested and found quite satisfactory.

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来源期刊

2015 9th International Conference on Electrical and Electronics Engineering (ELECO)

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