基于物理效应分析和非线性度量混合建模策略

摘要

For multivariable and nonlinear modern complex systems,a hybrid modeling strategy is one of the most effective ways to get accurate and reliable models.In those existing hybrid modeling methods,it is dif-ficult to clarify the scopes of prior models and nonparametric models.Besides,there is lack of uniform criterion for the selection of proper linearization methods when analyzing nonparametric models.To solve the above is-sues,a hybrid modeling method based on physical effect analysis and nonlinearity measure is proposed,which is applied to the quadrotor helicopter.It clarifies the scopes of the prior model and the nonparametric model ac-cording to the influnce of various physical effects on the flying attitudes;and uses the fuzzy inference algorithm to select proper linearization methods in accordance with nonlinear degrees of different physical effects.The simulation results show the accuracy and reliability of the proposed hybrid modeling strategy.%对于存在多变量、非线性的现代复杂系统，混合建模策略是获得准确、可靠模型的有效手段之一。在现有混合建模方法中，缺乏对先验模型和非参数模型建模目标的清晰界定，且在分析非参数模型时，对线性化方法的选择也缺乏统一的标准。针对上述问题，以四旋翼飞行器为应用对象，提出一种基于物理效应分析和非线性度量的混合建模策略，根据各类物理效应对飞行姿态的影响程度界定先验模型和非参数模型的建模目标，并根据各类物理效应的非线性程度运用模糊推理算法选择合适的线性化方法。实验结果证明了混合模型的可靠性和建模准确性。