Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

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Table 3.23 – Actuator Nonlinear Characteristic SummarySERVOVOLTSPOSITION(deg)RATE(deg/sec)MIN MAXDS8417JR94091DS368HS12MGCS10BB5 -437.2 437.1+/- 37.45716-524.5 534.95 -402.3 422.0+/- 38.53156-435.2 467.85 -219.8 220.5+/- 40.57446-264.6 265.75 -328.1 317.6+/- 41.43946-376.5 404.75 -474.7 442.1+/- 41.79926-567.2 536.4It is apparent from Table 3.23 that there are different rates for different directionson the actuators. The test stand was mounted horizontally, so gravity is was not the cause.The DS368 proved to have the best symmetry in its rates where the smaller and lighterCS-10BB showed to be more asymmetric. Many factors can contribute to thisasymmetry. Because there is a motor with an armature inside, the brushes on the motormay be conditioned to one direction.It should be noted that the square wave used for the first test was repeated at 50%maximum deflection. There were not enough data points at which the actuator rate wassaturated to fit a valid linear curve at this deflection. For this reason, all results used a full100% deflection command in the square wave to ensure saturation of the rate.The sampling rate of 50 Hz and nature of the square wave did not reveal anyidentifiable stiction or hysteresis. Although they undoubtedly exist, the methodsemployed here did not reveal any substantial findings. More accurate potentiometers,- 74 -
higher data rates, and tighter tolerances on the test equipment may have revealed thesenonlinearities.It should be mentioned that observing the smaller actuators like the CS-10BB and94091 revealed that at very high frequencies the actuator demonstrated output not directlycorrelated to the input. This sporadic output is visible in the time responses shown inFigures 3.26 and 3.27.504030Deflection (deg)201000 5 10 15 20 25 30-10-20-30-40-50Time (sec)Figure 3.26 – CS-10BB at 5V Time History Illustrating Erratic Response at HighFrequency403020Deflection (deg)1000 5 10 15 20 25 30-10-20-30-40-50Time (sec)Figure 3.27 – 94091 at 6V Time History Illustrating Erratic Response at High Frequency- 75 -
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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
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tunnel testing to study the charact
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Figure 1.8 - Helicopter Body Axes S
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GPSRate GyrosAccelerometersIMUInner
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CHAPTER 2 - METHODS AND TECHNIQUES2
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2.2.1 Flight Test TechniquesThere a
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manufacturer specifications are mod
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3.2 Bare-Airframe IDThe bare-airfra
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Table 3.2 - OAV Frequency Range of
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⎧ 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 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: 400035003000250020001500y = -13429x
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
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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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