Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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LIST OF TABLES3.1 – OAV Measured Parameters during Flight Testing .......................................................183.2 – OAV Frequency Range of Good Coherence (rad/sec) .................................................193.3 – OAV Control Derivatives Extracted from Transfer Function Fits ...............................203.4 – OAV DERIVID Identified parameters and Certainties ................................................233.5 – OAV DERIVID Frequency Response Costs ................................................................233.6 – OAV Eigenvalues and Associated Eigenvectors of [F]................................................243.7 – MAV Physical Properties .............................................................................................353.8 – MAV Identified Stability Derivatives...........................................................................393.9 – MAV Identified Control Derivatives............................................................................403.10 – Final Flight Test Identified MAV Derivatives............................................................423.11 – MAV Wind Tunnel Identified Derivatives and Flight Test Results...........................443.12 – Pitching Moment Derivatives and Solotrek Fan Speed ..............................................473.13 – Pitching Moment Coefficient Summary .....................................................................533.14 – Pitching Moment with Blade Chord Summary...........................................................543.15 – Manufacturer Specifications for Servo Actuators Tested...........................................573.16 – Actuator Linkage Geometries.....................................................................................603.17 – Actuator Calibration Factors for Input and Output Channels to Degrees...................613.18 – Frequency Sweep Used for all Actuators....................................................................623.19 – Square Wave Parameters ............................................................................................633.20 – Actuator Bench Test Matrix........................................................................................653.21 – Actuator NAVFIT Frequency Ranges for CIFER Cases............................................673.22 – Actuator NAVFIT Results for all Cases .....................................................................683.23 – Actuator Nonlinear Characteristic Summary..............................................................744.1 – Linmod, Wind Tunnel, and Flight Test Results for i-Star 9”........................................114viii
LIST OF FIGURESFigure 1.1 – Land Warrior OAV Concept ..........................................................................1Figure 1.2 – Hiller Helicopters Flying Platform – 1958.....................................................3Figure 1.3 – Aerovironment / Honeywell DARPA Phase I OAV – 2001 ..........................3Figure 1.4 – Trek Aerospace Solotrek Ducted Fan – 2001.................................................4Figure 1.5 – Allied Aerospace i-Star MAV 9” Vehicle – 2003..........................................4Figure 1.6 – Detailed view of 9” MAV Design ..................................................................5Figure 1.7 – MAV Stator and Vanes...................................................................................6Figure 1.8 – Helicopter Body Axes System........................................................................7Figure 1.9 – Helicopter Body Axes System Applied to the Ducted Fan ............................7Figure 1.10 – Block Diagram of Basic DFCS Architecture ...............................................8Figure 1.11 – Comprehensive Identification Schematic.....................................................9Figure 2.1 – Sample Frequency Sweep Flight Test Command.........................................13Figure 3.1 – Roll rate response frequency domain verification........................................26Figure 3.2 – Pitch rate response frequency domain verification.......................................27Figure 3.3 – Yaw response frequency domain verification ..............................................29Figure 3.4 – Roll response time history verification.........................................................30Figure 3.5 – Pitch response time history verification .......................................................31Figure 3.6 – Yaw response time history verification........................................................32Figure 3.7 – Techsburg Wind Tunnel Setup for OAV......................................................33Figure 3.8 – Techsburg OAV Pitching Moment to Airspeed ...........................................34Figure 3.9 – On and Off Axis MAV Roll Frequency Responses .....................................36Figure 3.10 – On and Off Axis MAV Pitch Frequency Responses ..................................37Figure 3.11 – MAV Lateral Acceleration and Roll Rate Response to Roll Input ............40Figure 3.12 – MAV Longitudinal Acceleration and Pitch Response ...............................41Figure 3.13 – Pitching Moment Wind Tunnel Test Data for i-Star 9” .............................43Figure 3.14 – Solotrek Wind Tunnel Test Results for Pitching Moment .........................46Figure 3.15 – Hiller Flying Platform Pitching Moment Data...........................................48Figure 3.16 – Drag over a Flat Plate Perpendicular to Flow.............................................49Figure 3.17 – Results of Removing Dummy Moment from Hiller Platform Test............50ix
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: 3.4.4 Magnetometer Identification..
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
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Figure 3.14 shows how increasing th
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the duct, the effects of the man ne
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ft-lbMu PLATFORM= 5.11ftsecThis dim
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apparent that the size of the duct
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adequate way to characterize the di
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actuators varied in size, weight, c
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It is noticeable from the figure th
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Table 3.17 - Actuator Calibration F
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Figure 2.1 shows an example frequen
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The test matrix is provided as Tabl
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frequency response curves shown in
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Table 3.22 shows that for the first
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The time delays all seemed to be ar
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400035003000250020001500y = -13429x
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higher data rates, and tighter tole
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esponse and the response obtained f
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The time histories show that the ou
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Figure 3.31 - Magnitude Comparison
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Performing the frequency response a
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Results from STI utilizing the exac
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The fact that the rate saturated du
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Table 3.23 for the maximum rates an
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Verification of the identified mode
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from testing (3.22), it was found t
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3.4.1 Accelerometer IdentificationM
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Figure 3.43 shows that gyros were m
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5 meter circle centered about the t
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Figure 3.46 shows the modeled fluct
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Figure 3.49 - Pressure Altimeter Mo
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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 -
Page 157 and 158:
DS368 - 100% - 5V- 145 -
Page 159 and 160:
DS368 - 100% - 6V- 147 -
Page 161 and 162:
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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