Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

⎧ p⎫⎪ ⎪y = ⎨q⎬⎪ r ⎪⎩ ⎭(Equation 3.9)u⎧pmixer⎪ ⎪= ⎨qmixer⎬⎪⎩rmixer⎫⎪⎭(Equation 3.10)⎡Yv0 g 0 0 0 0 ⎤⎢LvL 0 0 0 0 0⎥⎢P⎥⎢0 1 0 0 0 0 0 ⎥⎢⎥F = ⎢0 0 0 Xu0 −g0 ⎥⎢0 0 0 MuMq0 0 ⎥⎢⎥⎢0 0 0 0 1 0 0 ⎥⎢0 0 0 0 0 0 N ⎥⎣r ⎦⎡Yp0 0 ⎤mixer⎢L 0 0⎥⎢pmixer⎥⎢ 0 0 0 ⎥⎢⎥G = ⎢ 0 Xq0 ⎥mixer⎢ ⎥⎢0 Mq0mixer ⎥⎢0 0 0⎥⎢⎥⎢⎣0 0 Nr⎥mixer ⎦(Equation 3.11)(Equation 3.12)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⎥⎦(Equation 3.13)It is worthwhile to note that many of the derivatives were set to zero in theidentification process. Because of the lack of acceleration data, the on-axis dampingparameters X u , Y v , and Z w were unable to be determined in the model and were thusremoved from the CIFER model (fixed to a value of 0). A closer examination of the- 21 -