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提出了一种基于飞行器频域辨识模型的模型参数摄动分析方法。该方法通过将克莱姆-拉奥定理与频域辨识方法相结合对辨识模型参数的摄动范围估计算法进行了分析及证明。同时运用摄动范围计算过程中的相关指标对模型结构进行了优化,解决了飞行器模型辨识过程中模型阶次较难确定的问题。通过对辨识模型的摄动分析及模型结构优化使得模型能更准确地对系统进行描述。根据一种小型无人直升机悬停状态下的偏航通道飞行实验数据,利用该方法对其频域辨识模型参数摄动进行了分析并对其模型结构进行了优化,理论分析结果与统计结果的比较表明理论与实验方法效果一致,模型时域预测输出与实际输出的比较验证了摄动分析方法的可行性及有效性。
A model perturbation analysis method based on aircraft frequency domain identification model is proposed. In this method, the perturbation range estimation algorithm for identifying the model parameters is analyzed and proved by combining the Cramer-Rao theorem with the frequency domain identification method. At the same time, the model structure is optimized by using the relevant indexes in the calculation of the perturbation range, which solves the problem that the model order is more difficult to identify in the aircraft model identification process. Through the perturbation analysis of identification model and optimization of model structure, the model can describe the system more accurately. According to experimental data of a small unmanned helicopter hovering flight in flight, this method is used to analyze its parameter perturbation in frequency domain identification model and its model structure is optimized. The results of theoretical analysis and statistical analysis The comparison shows that the theoretical and experimental results are consistent. The comparison between the predicted output and the actual output of the model verifies the feasibility and effectiveness of the perturbation analysis method.