Model identification of a micro air vehicle in loitering flight based on attitude performance evaluation
This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multi...
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| Published in: | IEEE transactions on robotics Vol. 20; no. 4; pp. 702 - 712 |
|---|---|
| Main Authors: | , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
New York, NY
IEEE
01.08.2004
Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects: | |
| ISSN: | 1552-3098, 1941-0468 |
| Online Access: | Get full text |
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| Abstract | This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition software. Modeling and performance analysis are carried out, based on the flight-test data using a system identification technique. Two fourth-order autoregressive with exogenous input (ARX) models are identified to present the attitude characteristics of the longitudinal (pitch) and the lateral (roll) control channels, respectively. The validity of the identified model is verified by both time-domain model prediction and frequency-domain spectral analysis. Based on the proposed ARX models, two compensators are further designed using a frequency-domain method, and then added to the closed-loop control systems to improve the transient performance of the pitch- and roll-control channels. Simulations and experiments demonstrate that the flight performance obtained by the proposed ARX model-based compensation control can be improved. |
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| AbstractList | This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition software. Modeling and performance analysis are carried out, based on the flight-test data using a system identification technique. Two fourth-order autoregressive with exogenous input (ARX) models are identified to present the attitude characteristics of the longitudinal (pitch) and the lateral (roll) control channels, respectively. The validity of the identified model is verified by both time-domain model prediction and frequency-domain spectral analysis. Based on the proposed ARX models, two compensators are further designed using a frequency-domain method, and then added to the closed-loop control systems to improve the transient performance of the pitch- and roll-control channels. Simulations and experiments demonstrate that the flight performance obtained by the proposed ARX model-based compensation control can be improved.[PUBLICATION ABSTRACT] This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition software. Modeling and performance analysis are carried out, based on the flight-test data using a system identification technique. Two fourth-order autoregressive with exogenous input (ARX) models are identified to present the attitude characteristics of the longitudinal (pitch) and the lateral (roll) control channels, respectively. The validity of the identified model is verified by both time-domain model prediction and frequency-domain spectral analysis. Based on the proposed ARX models, two compensators are further designed using a frequency-domain method, and then added to the closed-loop control systems to improve the transient performance of the pitch- and roll-control channels. Simulations and experiments demonstrate that the flight performance obtained by the proposed ARX model-based compensation control can be improved. |
| Author | Huaiyu Wu Zhaoying Zhou Dong Sun |
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| Keywords | Flight test Performance evaluation Exogenous Transient response ARX model Data acquisition Frequency domain method Autoregressive model Flight control Modeling Spectral analysis Transients Closed feedback Time domain method Model matching Performance analysis System identification Roll Aircraft Multiple channel |
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| SubjectTerms | Aircraft Applied sciences Attitude control Channels Compensation Computer programs Computer science; control theory; systems Computer simulation Control theory. Systems Data acquisition Data analysis Exact sciences and technology Frequency domain analysis Mathematical models Micro air vehicles Modelling and identification Performance analysis Predictive models Robotics Robots Rolls Simulation Spectral analysis System identification Time domain analysis Vehicles |
| Title | Model identification of a micro air vehicle in loitering flight based on attitude performance evaluation |
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