Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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NOMENCLATUREA Area v& Lateral body accelerationa 1 First Fourier Coefficient w Vertical body velocityb 1 Second Fourier Coefficient w& Vertical body accelerationBW Bandwidth Y Lateral Body Forcec Chord x State MatrixC Nondimensional Coefficient X Longitudinal Body ForceCMPA Commanded Roll Rate Z Vertical Body ForceCMQA Commanded Pitch Rate φ Roll attitudeCMRA Commanded Yaw Rate θ Pitch attitudeCR Cramer-Rao Bound ϕ Heading attitudeF Plant Matrix ω n Natural FrequencyG Control Matrix ˆnω Normalized Natural FrequencyH 1 Output Matrix Position Ω Propeller Rotational VelocityH 2 Output Matrix Rate ρ DensityI Inertia σ Propeller Coefficientj Imaginary Variable τ Time ConstantL Rolling Moment ζ Damping RatioM Pitching Moment ∠ Phase AngleN Yawing Momentp Roll body rate Subscriptsp mixer Lateral mixer signalP Period c, δ Commandq Pitch body rate CG Center of Gravityq mixer Longitudinal mixer signal col Collectiver Yaw body rate FS Full ScaleR Radius Lat Lateralr mixer Pedal mixer signal (deg/sec) lon Longitudinals Frequency Domain Variable mixer Mixert Linear : Nonlinear Rise Time ped PedalˆRtR NLRise Time Nonlinear prop PropellertR LRise Time Linear rad Radiansu Longitudinal body velocity xx X-plane in the Direction of Xu Input Control Matrix yy Y-plane in the Direction of Yu& Longitudinal body acceleration zz Z-plane in the Direction of Zv Lateral body velocity dot Time Derivativexii
CHAPTER 1 – INTRODUCTION AND MOTIVATION1.1 Vehicles ExaminedInterest and application of ring-wing type unmanned aerial vehicles (UAVs) hasincreased within recent years. The military and commercial uses for a vehicle capable ofhovering and forward flight while remaining small and unmanned are countless. Militaryoperations on urbanized terrain (MOUT) have become an area of concern for the UnitedStates military within recent years. An increased need for policing and securingurbanized areas has become apparent with the conflicts in Iraq and Mogadishu. It is thistype of environment that dictates the especially challenging design of small-scale UAVs 1 .Because of the nature of MOUT, precise station-keeping requirements and overallincreased risk of collision with obstacles are important. Add to that the need for small andback-pack carried vehicles and it becomes apparent why the ducted fan design isappealing. The Defense Advanced Research Projects Agency (DARPA) advancedconcept technology demonstrator (ACTD) projects yielded submissions which includedthe Kestrel organic air vehicle (OAV) and i-Star micro air vehicle (MAV). Figure 1.1shows the typical application of the OAV envisioned by the US Army.Figure 1.1 – Land Warrior OAV Concept- 1 -
Page 1 and 2: Comprehensive System Identification
Page 3 and 4: APROVAL PAGETITLE:AUTHOR:Comprehens
Page 5 and 6: ACKNOWLEDGMENTSThe author would lik
Page 7 and 8: 3.4.4 Magnetometer Identification..
Page 9 and 10: LIST OF FIGURESFigure 1.1 - Land Wa
Page 11: Figure 3.48 - Magnetometer Depictio
Page 15 and 16: The vehicles examined within the sc
Page 17 and 18: tunnel testing to study the charact
Page 19 and 20: Figure 1.8 - Helicopter Body Axes S
Page 21 and 22: GPSRate GyrosAccelerometersIMUInner
Page 23 and 24: CHAPTER 2 - METHODS AND TECHNIQUES2
Page 25 and 26: 2.2.1 Flight Test TechniquesThere a
Page 27 and 28: manufacturer specifications are mod
Page 29 and 30: 3.2 Bare-Airframe IDThe bare-airfra
Page 31 and 32: Table 3.2 - OAV Frequency Range of
Page 33 and 34: ⎧ p⎫⎪ ⎪y = ⎨q⎬⎪ r ⎪
Page 35 and 36: Table 3.4 - OAV DERIVID Identified
Page 37 and 38: The identified state-space model yi
Page 39 and 40: Better sensors, at higher sampling
Page 41 and 42: Figure 3.3 - Yaw response frequency
Page 43 and 44: Figure 3.4 shows that even though t
Page 45 and 46: It can be seen that the Aerovironme
Page 47 and 48: 3.2.2 Allied Aerospace MAVFlight te
Page 49 and 50: 30MAGNITUDE(DB)-10-50250PHASE(DEG)5
Page 51 and 52: A 0th/2nd order transfer function i
Page 53 and 54: Figure 3.12 shows the same for the
Page 55 and 56: Techsburg) the pitching moment resp
Page 57 and 58: Table 3.11 shows that all of the di
Page 59 and 60: Figure 3.14 shows how increasing th
Page 61 and 62: the duct, the effects of the man ne
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ft-lbMu PLATFORM= 5.11ftsecThis dim
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apparent that the size of the duct
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adequate way to characterize the di
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actuators varied in size, weight, c
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It is noticeable from the figure th
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Table 3.17 - Actuator Calibration F
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Figure 2.1 shows an example frequen
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The test matrix is provided as Tabl
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frequency response curves shown in
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Table 3.22 shows that for the first
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The time delays all seemed to be ar
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400035003000250020001500y = -13429x
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higher data rates, and tighter tole
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esponse and the response obtained f
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The time histories show that the ou
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Figure 3.31 - Magnitude Comparison
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Performing the frequency response a
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Results from STI utilizing the exac
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The fact that the rate saturated du
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Table 3.23 for the maximum rates an
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Verification of the identified mode
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from testing (3.22), it was found t
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3.4.1 Accelerometer IdentificationM
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Figure 3.43 shows that gyros were m
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5 meter circle centered about the t
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Figure 3.46 shows the modeled fluct
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Figure 3.49 - Pressure Altimeter Mo
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Figure 4.1 - Simulink MAV ModelFigu
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Figure 4.3 - Simulink Sweep Generat
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cause a pitching moment to be exert
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Figure 4.6 - Cross Control Decoupli
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⎡ Lp Lq Lr Lu Lv Lw0 0 0⎤⎢MpM
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It can be seen right away that the
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Figure 4.8 shows that the coherence
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CHAPTER 5 - CONCLUSIONSThe need for
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6. Mettler, B., Tischler, M. B., an
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Appendix AOAV Proposal VehicleIdent
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DS8417 - 5V- 125 -
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HS512MG - 5V- 127 -
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DS368 - 5V- 129 -
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94091 - 5V- 131 -
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CS-10BB - 5V- 133 -
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Appendix CActuator Generated Transf
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DS8417 - 100% - 5V- 137 -
Page 151 and 152:
DS8417 - 100% - 6V- 139 -
Page 153 and 154:
HS512MG - 100% - 5V- 141 -
Page 155 and 156:
HS512MG - 100% - 6V- 143 -
Page 157 and 158:
DS368 - 100% - 5V- 145 -
Page 159 and 160:
DS368 - 100% - 6V- 147 -
Page 161 and 162:
94091 - 80% - 5V- 149 -
Page 163 and 164:
94091 - 80% - 6V- 151 -
Page 165 and 166:
CS-10BB - 100% - 5V- 153 -
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CS-10BB - 100% - 6V- 155 -
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Appendix DActuator Time Domain Veri
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94091 5V94091 6V- 159 -
Page 173 and 174:
DS368 5VDS368 6V- 161 -
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Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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