Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

0.5 seconds that the actuator was at the maximum position. This is where it was receivinga PWM length of 1.0 ms (negative max) to 2.0 ms (positive max).A linear curve fit was used between the test points where the response to thechange in deflection was constant. This meant that although the first change from -100%to 100% occurred at a given time, for all the actuators there was still a transient responsedue to the dynamics of the actuator that were ignored. Most fits actually started at up to0.1 second after the commanded change. Figures 3.24 and 3.25 illustrate this for the JRPROPO DS8417 for full 100% deflection at 6V. The response data in Figure 3.24 showsthe measurement spike every fifth data point that was described earlier. The presence ofthis spike does not have a significant effect on the identification results.6040ResponseCommand2000 0.2 0.4 0.6 0.8 1 1.2-20-40-60Figure 3.24 – Sample Square Wave Response- 72 -