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Sanjalblue / QuadSysIdentMatlab

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sketch of quad drone system identification spread retract

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readme.txt
辨识实验产生数据文件:IDtest_NoWind_17.3.24

采取闭环辨识。当四旋翼处于悬停状态下,在横滚roll、俯仰pitch、偏航yaw三个方向参考输入信号处添加GBN激励信号,激励信号相关参数如下:
平均转换时间:2s
信号幅值:0.3rad=17.2度

机理模型的采样时间为0.01s,每次运行仿真程序,从启动到达悬停需要10秒左右的时间,故设计辨识实验时常100秒,从15秒开始加入GBN测试信号。

根据经验:(U2,U3,U4) 与 (pitch_rate,roll_rate,yaw_rate)线性关系

%数据读取matlab代码
%% data read
%-------------------------------------2016/11/22 lby
deltaT = raw_data.deltaT;
t=raw_data.time ;
pitch=raw_data.x_pd(:,1);
pitch_rate=raw_data.x_pd(:,2);
roll=raw_data.x_pd(:,3);
roll_rate=raw_data.x_pd(:,4);
yaw=raw_data.x_pd(:,5);
yaw_rate=raw_data.x_pd(:,6);
z=raw_data.x_pd(:,7);
z_rate=raw_data.x_pd(:,8);
x=raw_data.x_pd(:,9);
x_rate=raw_data.x_pd(:,10);
y=raw_data.x_pd(:,11);
y_rate=raw_data.x_pd(:,12);

u1=raw_data.u_pd(:,1);
u2=raw_data.u_pd(:,2);
u3=raw_data.u_pd(:,3);
u4=raw_data.u_pd(:,4);

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