System identification of flybar-less rotorcraft UAV
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 6 August 2020
Issue publication date: 28 October 2020
Abstract
Purpose
This paper aims to build an accurate mathematical model which is necessary for control design and attitude estimation of a miniature unmanned rotorcraft and its subsequent conversion to an autonomous vehicle.
Design/methodology/approach
Frequency-domain system identification of a small-size flybar-less remote controlled helicopter is carried out based on the input–output data collected from flight tests of the instrumented vehicle. A complete six degrees of freedom quasi-steady dynamic model is derived for hover and cruise flight conditions.
Findings
The veracity of the developed model is ascertained by comparing the predicted model responses to the actual responses from flight experiments and from statistical measures. Dynamic stability analysis of the vehicle is carried out using eigenvalues and eigenvectors. The identified model represents the vehicle dynamics very well in the frequency range of interest.
Research limitations/implications
The model needs to be augmented with additional terms to represent the high-frequency dynamics of the vehicle.
Practical implications
Control algorithms developed using the first principles model can be easily reconfigured using the identified model, because the model structure is not altered during identification.
Originality/value
This paper gives a practical solution for model identification and stability analysis of a small-scale flybar-less helicopter. The estimated model can be easily used in developing control algorithms.
Keywords
Acknowledgements
The authors wish to express their gratitude to Aeronautical Development Establishment (ADE) Bangalore and Indian Institute of Technology (IIT) Kanpur for providing the flight data required to carry out this research work.
Citation
T.K., K.N., V.P., L. and Singh, J. (2020), "System identification of flybar-less rotorcraft UAV", Aircraft Engineering and Aerospace Technology, Vol. 92 No. 10, pp. 1483-1493. https://doi.org/10.1108/AEAT-05-2019-0100
Publisher
:Emerald Publishing Limited
Copyright © 2020, Emerald Publishing Limited