Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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Manufacturer References:Crossbow CXL04LP3http://www.xbow.com/pdf/Accelerometer/LP/LP%20Accel.pdfCrossbow Technology, Inc.41 Daggett DriveSan Jose, CA 95134-2109Phone:(408) 965-3300Fax:(408) 324-4840Email:info@xbow.comJR Components 8700G Super ServosSaturation identified from World Class Models:http://www.worldclassmodels.com/cgi-bin/agora/agora.cgi?product=servosµ−BLOX GPS-MS1Ehttp://www.u-blox.ch/gps/gps-ms1e/ubloxgps performance.pdfZuercherstrasse 68P/O Box 788800 ThalwilSwitzerlandEmail:info@u-blox.comPhone (UK):+44 (0) 1622 618628Inertial Science RRS75RRS75.pdfPeter MoonInertial Science, Inc.(805) 499-3191, (805) 498-4882 Faxhttp://www.inertialscience.compjmoon@inertialscience.comHoneywell HMC 2003http://www.ssec.honeywell.com/magnetic/datasheets/hmc2003.pdfMotorola MPX 4115Ahttp://e-www.motorola.com/webapp/sps/prod_cat/prod_summary.jsp?code=MPX4115&catId=M98716- 122 -
Appendix AOAV Proposal VehicleIdentified State-Space Quadruple and Formx&= Fx + Guy = H x+ H x&1 2x⎧v⎫⎪p⎪⎪ ⎪⎪φ⎪⎪ ⎪= ⎨u⎬⎪q⎪⎪ ⎪⎪θ⎪⎪ ⎪⎩r⎭y⎧p⎫⎪ ⎪= ⎨q⎬⎪r⎪⎩ ⎭u⎧ pmixer⎪ ⎪= ⎨qmixer⎬⎪⎩rmixer⎫⎪⎭F⎡ 0 0 32.17 0 0 0 0⎤⎢0.197 0 0 0 0 0 0⎥⎢−⎥⎢ 0 1 0 0 0 0 0⎥⎢⎥= ⎢ 0 0 0 0 0 −32.17 0⎥⎢ 0 0 0 .2623 0 0 0⎥⎢⎥⎢ 0 0 0 0 1 0 0⎥⎢ 0 0 0 0 0 0 0⎥⎣⎦⎡ 0 0 0 ⎤⎢.2958 0 0⎥⎢⎥⎢ 0 0 0 ⎥⎢⎥G = ⎢ 0 0 0 ⎥⎢ 0 .3013 0 ⎥⎢⎥⎢ 0 0 0 ⎥⎢ 0 0 .3629⎥⎣⎦H1⎡0 57.3 0 0 0 0 0 ⎤=⎢0 0 0 0 57.3 0 0⎥⎢ ⎥⎢⎣0 0 0 0 0 0 57.3⎥⎦H2= 0- 123 -
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Comprehensive System Identification
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APROVAL PAGETITLE:AUTHOR:Comprehens
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ACKNOWLEDGMENTSThe author would lik
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3.4.4 Magnetometer Identification..
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LIST OF FIGURESFigure 1.1 - Land Wa
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Figure 3.48 - Magnetometer Depictio
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CHAPTER 1 - INTRODUCTION AND MOTIVA
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The vehicles examined within the sc
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tunnel testing to study the charact
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Figure 1.8 - Helicopter Body Axes S
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GPSRate GyrosAccelerometersIMUInner
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CHAPTER 2 - METHODS AND TECHNIQUES2
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2.2.1 Flight Test TechniquesThere a
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manufacturer specifications are mod
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3.2 Bare-Airframe IDThe bare-airfra
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Table 3.2 - OAV Frequency Range of
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⎧ p⎫⎪ ⎪y = ⎨q⎬⎪ r ⎪
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Table 3.4 - OAV DERIVID Identified
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The identified state-space model yi
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Better sensors, at higher sampling
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Figure 3.3 - Yaw response frequency
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Figure 3.4 shows that even though t
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It can be seen that the Aerovironme
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3.2.2 Allied Aerospace MAVFlight te
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30MAGNITUDE(DB)-10-50250PHASE(DEG)5
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A 0th/2nd order transfer function i
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Figure 3.12 shows the same for the
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Techsburg) the pitching moment resp
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Table 3.11 shows that all of the di
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Figure 3.14 shows how increasing th
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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
Page 83 and 84: The time delays all seemed to be ar
Page 85 and 86: 400035003000250020001500y = -13429x
Page 87 and 88: higher data rates, and tighter tole
Page 89 and 90: esponse and the response obtained f
Page 91 and 92: The time histories show that the ou
Page 93 and 94: Figure 3.31 - Magnitude Comparison
Page 95 and 96: Performing the frequency response a
Page 97 and 98: Results from STI utilizing the exac
Page 99 and 100: The fact that the rate saturated du
Page 101 and 102: Table 3.23 for the maximum rates an
Page 103 and 104: Verification of the identified mode
Page 105 and 106: from testing (3.22), it was found t
Page 107 and 108: 3.4.1 Accelerometer IdentificationM
Page 109 and 110: Figure 3.43 shows that gyros were m
Page 111 and 112: 5 meter circle centered about the t
Page 113 and 114: Figure 3.46 shows the modeled fluct
Page 115 and 116: Figure 3.49 - Pressure Altimeter Mo
Page 117 and 118: Figure 4.1 - Simulink MAV ModelFigu
Page 119 and 120: Figure 4.3 - Simulink Sweep Generat
Page 121 and 122: cause a pitching moment to be exert
Page 123 and 124: Figure 4.6 - Cross Control Decoupli
Page 125 and 126: ⎡ Lp Lq Lr Lu Lv Lw0 0 0⎤⎢MpM
Page 127 and 128: It can be seen right away that the
Page 129 and 130: Figure 4.8 shows that the coherence
Page 131 and 132: CHAPTER 5 - CONCLUSIONSThe need for
Page 133: 6. Mettler, B., Tischler, M. B., an
Page 137 and 138: DS8417 - 5V- 125 -
Page 139 and 140: HS512MG - 5V- 127 -
Page 141 and 142: DS368 - 5V- 129 -
Page 143 and 144: 94091 - 5V- 131 -
Page 145 and 146: CS-10BB - 5V- 133 -
Page 147 and 148: Appendix CActuator Generated Transf
Page 149 and 150: 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 -
Page 167 and 168: CS-10BB - 100% - 6V- 155 -
Page 169 and 170: Appendix DActuator Time Domain Veri
Page 171 and 172: 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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