Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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The identified models were compared with data taken by Aerovironment duringflight testing. It can be seen that the on-axis responses have an excellent match for all 3controls. The quality <strong>of</strong> the match confirms that the identified model is accurate.Figure 3.4 – Roll response time history verification- 30 -
Figure 3.4 shows that even though the lateral dynamics were modeled without aroll damping term, the control surface effectiveness term and Lv in the hovering cubicaccurately pick up the nature <strong>of</strong> the response.Figure 3.5 – Pitch response time history verification- 31 -
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 and 12: Figure 3.48 - Magnetometer Depictio
Page 13 and 14: CHAPTER 1 - INTRODUCTION AND MOTIVA
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: Figure 3.3 - Yaw response frequency
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
Page 63 and 64: ft-lbMu PLATFORM= 5.11ftsecThis dim
Page 65 and 66: apparent that the size of the duct
Page 67 and 68: adequate way to characterize the di
Page 69 and 70: actuators varied in size, weight, c
Page 71 and 72: It is noticeable from the figure th
Page 73 and 74: Table 3.17 - Actuator Calibration F
Page 75 and 76: Figure 2.1 shows an example frequen
Page 77 and 78: The test matrix is provided as Tabl
Page 79 and 80: frequency response curves shown in
Page 81 and 82: 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
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⎡ 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 and 134:
6. Mettler, B., Tischler, M. B., an
Page 135 and 136:
Appendix AOAV Proposal VehicleIdent
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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