基于滤波误差和粒子群优化的三角翼无人机参数模型辨识

J. Samuel J, N. Kumar, S. Saderla, Y. Kim
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引用次数: 0

摘要

从军火库运送到救援任务,无人机在各个领域发挥着至关重要的作用,这就需要不断发展系统识别技术,以开发有效飞行控制的复杂数学模型。提出并实现了一种基于滤波误差法(FEM)和粒子群优化(PSO)的参数估计方法,用于估计固定翼无人机的纵向和横向气动导数、稳定性和控制导数。在估计技术中使用的FEM是基于稳态扩展卡尔曼滤波器,其中最大似然代价函数分别极小化使用随机解搜索算法,PSO和所提出的方法被称为FEM-PSO。使用两种裁剪三角翼无人机(CDFP和CDRW)生成了足够数量的兼容飞行数据集,用于分析所提出的估计方法的适用性。用该方法得到的参数估计与计算量大的传统有限元法进行了比较。结果表明,大多数有限元-粒子群算法的估算值与风洞和常规有限元估算值一致。还注意到,使用FEM-PSO获得的关键气动导数${C_{{L_\alpha }}},\;{C_{{m_\alpha }}},\;{C_{{Y_\beta }}},\;{C_{{l_\beta }}}$和${C_{{n_\beta }}}$的估计具有2.5的相对偏移%, 1.5%, 6.5%, 3.4% and 7.6% w.r.t. wind tunnel values for CDFP, and 1.4%, 1.9%, 0.1%, 9.6% and 7.5% w.r.t. wind tunnel values for CDRW. Despite having slightly higher Cramer-Rao Lower Bounds of estimated aerodynamic derivatives using the FEM-PSO method, the simulated responses have a relative error of less than 0.10% w.r.t. measured flight data. A proof-of-match exercise is also conducted to ascertain the efficacy of the estimates obtained using the proposed method. The degree of effectiveness of the FEM-PSO method is comparable with conventional FEM.
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Parametric model identification of delta wing UAVs using filter error method augmented with particle swarm optimisation
From arsenal delivery to rescue missions, unmanned aerial vehicles (UAVs) are playing a crucial role in various fields, which brings the need for continuous evolution of system identification techniques to develop sophisticated mathematical models for effective flight control. In this paper, a novel parameter estimation technique based on filter error method (FEM) augmented with particle swarm optimisation (PSO) is developed and implemented to estimate the longitudinal and lateral-directional aerodynamic, stability and control derivatives of fixed-wing UAVs. The FEM used in the estimation technique is based on the steady-state extended Kalman filter, where the maximum likelihood cost function is minimised separately using a randomised solution search algorithm, PSO and the proposed method is termed FEM-PSO. A sufficient number of compatible flight data sets were generated using two cropped delta wing UAVs, namely CDFP and CDRW, which are used to analyse the applicability of the proposed estimation method. A comparison has been made between the parameter estimates obtained using the proposed method and the computationally intensive conventional FEM. It is observed that most of the FEM-PSO estimates are consistent with wind tunnel and conventional FEM estimates. It is also noticed that estimates of crucial aerodynamic derivatives ${C_{{L_\alpha }}},\;{C_{{m_\alpha }}},\;{C_{{Y_\beta }}},\;{C_{{l_\beta }}}$ and ${C_{{n_\beta }}}$ obtained using FEM-PSO are having relative offsets of 2.5%, 1.5%, 6.5%, 3.4% and 7.6% w.r.t. wind tunnel values for CDFP, and 1.4%, 1.9%, 0.1%, 9.6% and 7.5% w.r.t. wind tunnel values for CDRW. Despite having slightly higher Cramer-Rao Lower Bounds of estimated aerodynamic derivatives using the FEM-PSO method, the simulated responses have a relative error of less than 0.10% w.r.t. measured flight data. A proof-of-match exercise is also conducted to ascertain the efficacy of the estimates obtained using the proposed method. The degree of effectiveness of the FEM-PSO method is comparable with conventional FEM.
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