Anotace:
This article deals with the design of a generalized methodology for the identification of nonlinear dynamic systems using a combination of analytical and experimental identification methods. The proposed methodology is divided into modules that can be repeated if necessary. Verification of the methodology is presented on the modified helicopter educational model CE 150 from Humusoft company. A mathematical model of the system with both rotors approximated by a black-box nonlinear model is presented. The proposed experiments for obtaining experimental data are described in detail and are used in the estimation of model parameters. The gray-box model is validated in a control structure with a control law optimized for microcontrollers. Indirect validation of the gray-box model with the real helicopter educational model points to good approximation properties of the gray-box model and its potential for further use in the identification and control using artificial intelligence methods.