Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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3.3 Servo Actuator IdentificationThe goal of the actuator test program was to measure a set of data that was used toidentify models of the actuator dynamic response characteristics. These actuator modelsinclude linear transfer functions of the input/output relationships as well as non-linearactuator properties such as actuator rate and position limits.The identification was performed using the CIFER. Linear 0 th /2 nd order transferfunctions capturing the actuator dynamics were identified. Testing allowed for thedetermination of the maximum angular rates and positions using linear curve-fitting ofthe square wave responses. An explanation of the construction of the actuator blockdiagrams built is also included. The actuators are a critical part of the flight controlsystem and it is important to have accurate models of the dynamics and limits of theactuators themselves. Individual blocks were created for each actuator corresponding toeach of the tested 5 volt and 6 volt conditions. This section also includes a time domainvalidation of the actuator models.The goal of bench testing the control surface actuators was to collect a set ofbench test data that will be used to identify the actuator dynamics. This test data was alsoused to determine the position and rate limits of the actuators. The significance of othernon-linear actuator properties, such as hysteresis and stiction, are also evaluated from thebench test data.The bench testing was carried out in accordance with CIFER flight test techniqueswherever possible. Five separate actuators from four manufacturers were tested. The- 56 -
actuators varied in size, weight, cost, and performance. The manufacturers’ specificationsare presented in Table 3.15. Figure 3.18 shows the relative sizes of the actuators tested.Table 3.15 – Manufacturer Specifications for Servo Actuators TestedMODEL NUMBER WEIGHT TORQUE RATE L W D(oz) (oz/in@ 4.8V) (deg/sec) (in) (in) (in)JR PROPO DS8417 2.03 82.0 600.0 0.73 1.52 1.32HITEC HS-512MG 0.80 42.0 352.9 0.39 1.33 1.18JR PROPO DS368 0.80 53.0 285.7 0.50 1.12 1.17AIRTRONICS 94091 0.32 18.0 500.0 0.44 0.91 0.87CIRRUS CS-10BB 0.19 7.0 1000.0 0.37 0.90 0.61Figure 3.18 – Actuators Tested and Relative SizesThe test apparatus was comprised of a rigid aluminum base stand with allowancesfor the actuators to fit inside without moving. For the smaller actuators, small woodenstrips were used to ensure rigid mounting. The actuator horns were connected to horns onpotentiometers using clevises. The potentiometers offered little to no load resistance. Themechanical apparatus can be seen in Figure 3.19.- 57 -
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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
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
Page 63 and 64: ft-lbMu PLATFORM= 5.11ftsecThis dim
Page 65 and 66: apparent that the size of the duct
Page 67: adequate way to characterize the di
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
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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 -
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DS8417 - 100% - 6V- 139 -
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HS512MG - 100% - 5V- 141 -
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HS512MG - 100% - 6V- 143 -
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DS368 - 100% - 5V- 145 -
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DS368 - 100% - 6V- 147 -
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94091 - 80% - 5V- 149 -
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94091 - 80% - 6V- 151 -
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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 -
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DS368 5VDS368 6V- 161 -
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Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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