無人飛行載具系統鑑別技術之研究

System Identification technology research for Unmanned Autonomous Aircraft

高士雄(Shih-Shiung Kao)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2009年)

https://doi.org/10.6838/YZU.2009.00142

摘要

本論文的研究目的在於建立一組參數鑑別方法，運用飛行模擬器與飛控電腦建構之硬體迴路模擬系統(Hardware In the Loop Simulator,HIL )作為實驗平台，所使用的方法是根據所量測之飛行動態對其進行時域與穩態響應之系統鑑別，針對小型定翼無人飛行載具(Unmanned Aerial Vehicle,UAV)之系統鑑別技術進行研究，探討初始參數的設定飛行測試方式與信號處理，及結合穩態響應與時域數據進行系統鑑別參數鑑別最佳化技術，以期在實際飛行測試之前建立系統參數鑑別技術的基礎，數值模擬結果顯示，再用運結合升降舵脈衝響應，空速與昇降率的步階響應以及穩態響應的綜合數據之後，已可獲得兼顧暫態與穩態響應的宗向動態數值模型，並使穩態響應之誤差小於20%

關鍵字

無人飛行載具 UAV 穩態響應 最小平方法 系統鑑別 硬體迴路模擬系統

並列摘要

The objective of this research is to establish a group of system identification method by mini unmanned autonomous aircraft. It’s application flight simulator and flight computer of hardware in the loop simulator to be the platform. Before actual flight test establishes foundation of system parameters identification, system identification of time domain and stable state response method performs a theoretical study on measurement flight dynamic. discusses the initial parameter, test mode of flight dynamic ,signal processing and the union stable state response and time domain data carry on the optimization technology of parameter identification. The numerical simulation result showed that combine the elevator pulse response with step response of airspeed and climb rate as well as stable state response of synthetic information,it has possible to obtain the proper attention to both transition condition and the stable state response in longitudinal dynamic numerical mode and causes error of the stable state response is smaller than 20%。

並列關鍵字

Unmanned Aerial Vehicle UAV Stable State Response The Least Square Method System Identification Hardware In the Loop Simulator

參考文獻

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