Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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Chirp Input50403020Deflection (deg)1000 5 10 15 20 25 30-10-20-30-40-50Time (sec)Potentiometer Response50403020Deflection (deg)1000 5 10 15 20 25 30-10-20-30-40-50Time (sec)6040Deflection (deg)2000 1 2 3 4 5 6 7 8 9 10-20-40-60Time (sec)Figure 3.22 – Sample Chirp Input, Response, and Square Wave Time History- 64 -
The test matrix is provided as Table 3.20. It outlines the recorded file name, modelnumber, and conditions <strong>of</strong> the actuator tested. The CIFER case name for the frequencysweep cases is also listed if identification was completed.Table 3.20 – Actuator Bench Test MatrixCIFERNAMETEXT FILE NAMEMODELNUMBERVOLTAGEAMPLITUDE(% max)SAMPLESRECORDTIME(sec)DS8417_TEST_RUN.TXT JR PROPO DS8417 5 100 n/a n/aDS8417_1 DS8417_100_5.TXT JR PROPO DS8417 5 100 1478 29.56DS8417_2 DS8417_100_5_2.TXT JR PROPO DS8417 5 100 1464 29.28DS8417_3 DS8417_50_5.TXT JR PROPO DS8417 5 50 1461 29.22DS8417_4 DS8417_10_5.TXT JR PROPO DS8417 5 10 1452 29.04DS8417_5 DS8417_100_6.TXT JR PROPO DS8417 6 100 1466 29.32DS8417_6 DS8417_50_6.TXT JR PROPO DS8417 6 50 1464 29.28DS8417_7 DS8417_10_6.TXT JR PROPO DS8417 6 10 n/a n/aDS8417_100_5_square.TXT JR PROPO DS8417 5 100 1067 21.34DS8417_50_5_square.TXT JR PROPO DS8417 5 50 1392 27.84DS8417_10_5_square.TXT JR PROPO DS8417 5 10 1123 22.46DS8417_100_6_square.TXT JR PROPO DS8417 6 100 1380 27.60HS512MG1 HS-512MG_100_5.TXT HITEC HS-512MG 5 100 1462 29.24HS512MG2 HS-512MG_50_5.TXT HITEC HS-512MG 5 50 1482 29.64HS512MG3 HS-512MG_10_5.TXT HITEC HS-512MG 5 10 1496 29.92HS-512MG_100_5_square.TXT HITEC HS-512MG 5 100 1125 22.50HS512MG4 HS-512MG_100_6.TXT HITEC HS-512MG 6 100 1464 29.28HS512MG5 HS-512MG_50_6.TXT HITEC HS-512MG 6 50 1466 29.32HS512MG6 HS-512MG_10_6.TXT HITEC HS-512MG 6 10 1450 29.00HS-512MG_100_6_square.TXT HITEC HS-512MG 6 100 1404 28.08HS-512MG_80_6_square.TXT HITEC HS-512MG 6 80 917 18.34DS368_1 DS368_100_5.TXT JR PROPO DS368 5 100 1459 29.18DS368_2 DS368_50_5.TXT JR PROPO DS368 5 50 1471 29.42DS368_3 DS368_10_5.TXT JR PROPO DS368 5 10 1462 29.24DS368_100_5_square.TXT JR PROPO DS368 5 100 1253 25.06DS368_4 DS368_100_6.TXT JR PROPO DS368 6 100 1458 29.16DS368_5 DS368_50_6.TXT JR PROPO DS368 6 50 1462 29.24DS368_6 DS368_10_6.TXT JR PROPO DS368 6 10 1474 29.48DS368_100_6_square.TXT JR PROPO DS368 6 100 1241 24.8294091_1 94091_80_5.TXT AIRTRONICS 94091 5 80 1467 29.3494091_2 94091_50_5.TXT AIRTRONICS 94091 5 50 1458 29.1694091_3 94091_10_5.TXT AIRTRONICS 94091 5 10 1467 29.3494091_80_5_square.TXT AIRTRONICS 94091 5 80 1417 28.3494091_4 94091_80_6.TXT AIRTRONICS 94091 6 80 1463 29.2694091_5 94091_50_6.TXT AIRTRONICS 94091 6 50 1475 29.5094091_6 94091_10_6.TXT AIRTRONICS 94091 6 10 1440 28.8094091_80_6_square.TXT AIRTRONICS 94091 6 80 1519 30.38CS10BB_1 CS-10BB_100_5.TXT CIRRUS CS-10BB 5 100 1466 29.32CS10BB_2 CS-10BB_50_5.TXT CIRRUS CS-10BB 5 50 1469 29.38CS10BB_3 CS-10BB_10_5.TXT CIRRUS CS-10BB 5 10 1475 29.50CS-10BB_100_5_square.TXT CIRRUS CS-10BB 5 100 1198 23.96CS10BB_4 CS-10BB_100_6.TXT CIRRUS CS-10BB 6 100 1463 29.26CS10BB_5 CS-10BB_50_6.TXT CIRRUS CS-10BB 6 50 1476 29.52CS10BB_6 CS-10BB_10_6.TXT CIRRUS CS-10BB 6 10 1467 29.34CS-10BB_100_6_square.TXT CIRRUS CS-10BB 6 100 1145 22.90- 65 -
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 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: Figure 2.1 shows an example frequen
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
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CHAPTER 5 - CONCLUSIONSThe need for
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6. Mettler, B., Tischler, M. B., an
Page 135 and 136:
Appendix AOAV Proposal VehicleIdent
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DS8417 - 5V- 125 -
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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 -
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Appendix CActuator Generated Transf
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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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