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飞行机器人动力学模型的在线建模方法
Alternative TitleOnline modeling method of flying robot dynamics model
韩建达; 燕福龙; 齐俊桐; 刘刚; 吴镇炜; 夏泳; 宋大雷; 王子铭; 赵碧川; 杜科
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所 ; 辽宁省电力有限公司本溪供电公司
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status视为撤回
Abstract本发明涉及飞行机器人动力学模型的在线建模方法,包括以下步骤:在飞行机器人动力学模型仿真计算机中建立飞行机器人动力学参考模型;飞行机器人起飞并将飞行状态信息实时发送到飞行机器人动力学模型仿真计算机中;飞行机器人动力学模型仿真计算机实时更新动力学参考模型中所包含的飞行状态信息,并根据建模噪声得到动力学参考模型内建模参数的值,将建模参数的值实时代入到飞行机器人动力学参考模型中,实现飞行机器人动力学模型的在线建模。本发明能够实时反映飞行机器人的真实动力学,方法简便,便于计算机编程及实现,并有助于控制算法在仿真平台上的验证。
Other AbstractThe invention relates to an online modeling method of a flying robot dynamics model. The method comprises steps: a flying robot dynamics reference model is built in a flying robot dynamics module simulation computer; the flying robot flies and flying state information is sent in real time to the flying robot dynamics module simulation computer; and the flying robot dynamics module simulation computer updates in real time the flying state information contained in the dynamics reference model, the value of modeling parameters inside the dynamics reference model is obtained according to modeling noise, the value of the modeling parameter is in real time used in the flying robot dynamics reference model, and online modeling of the flying robot dynamics model is realized. According to the online modeling method of a flying robot dynamics model, true dynamics of the flying robot can be reflected in real time, the method is convenient and simple, computer programming and realization are facilitated, and verification of control algorithm on a simulation platform is facilitated.
PCT Attributes
Application Date2013-01-22
2014-07-23
Application NumberCN201310027352.1
Open (Notice) NumberCN103941592A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/15028
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所
2.辽宁省电力有限公司本溪供电公司
Recommended Citation
GB/T 7714
韩建达,燕福龙,齐俊桐,等. 飞行机器人动力学模型的在线建模方法[P]. 2014-07-23.
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