Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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effects from the rotating inertia. Ultimately this made for the coupling derivatives in themodel to become zero as well.The control derivatives were identified as shown in Table 3.9.Table 3.9 - MAV Identified Control DerivativesCOUP02Derivativ e Param Value CR Bound C.R. (%) Insens.(%)X lon -0.2841 0.01692 5.955 2.058M lon -0.2343 0.01103 4.705 2.149Y lat 0.2495 0.01876 7.519 2.544L lat -0.1789 0.01056 5.902 2.614ø lat 0.06767 * ...... ...... ......ø lon 0.06767 4.599E-03 6.796 3.272* Fixed derivativ e tied to a free derivativ eø lat = 1.000E+00* ø lon ( COUP02 )Figure 3.11 shows the identified model’s roll and lateral acceleration responses for theroll sweep.4020p/latMagnitude(DB)200ay/latMagnitude(DB)0-20-20-40-40-60150100500-50-100-150Phase (Deg)100500-50-100-150-200Phase (Deg)0.80.61 Coherence0.80.61 Coherence0.40.20.1 1 10 100Frequency (Rad/Sec)Flight resultsCOUP02 - Identification Results0.40.20.1 1 10Frequency (Rad/Sec)Figure 3.11 – MAV Lateral Acceleration and Roll Rate Response to Roll Input- 40 -
Figure 3.12 shows the same for the longitudinal acceleration and pitch rate response topitch input.4020q/lonMagnitude(DB)200ax/lonMagnitude(DB)0-20-20-40-40-60150 Phase (Deg)100500-50-100-1500.80.61 Coherence-100 Phase (Deg)-150-200-250-300-350-4000.80.61 Coherence0.40.20.1 1 10 100Frequency (Rad/Sec)Flight resultsCOUP02 - Identification Results0.40.20.1 1 10Frequency (Rad/Sec)Figure 3.12 – MAV Longitudinal Acceleration and Pitch Rate Response to Pitch InputThe combination of Figure 3.11 and Figure 3.12 show that the identified modelagrees with the flight test data. There are some inconsistencies, but overall the costs ofthe fits were low and the model agrees with flight test results. The final identifiedparameters are outlined in Table 3.10.- 41 -
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 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: A 0th/2nd order transfer function i
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
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 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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