System Identification of Small-Size Unmanned Helicopter Dynamics - Robotics Institute Carnegie Mellon University

System Identification of Small-Size Unmanned Helicopter Dynamics

Bernard Mettler, Mark B. Tischler, and Takeo Kanade
Conference Paper, Proceedings of 55th Annual Forum of the American Helicopter Society, Vol. 2, pp. 1706 - 1717, May, 1999
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Abstract

Flight testing of a fully-instrumented model-scale unmanned helicopter (Yamaha R-50 with 10 ft. diameter rotor) was conducted for the purpose of dynamic model identification. This paper describes the application of CIFER system identification techniques, which have been developed for full size helicopters, to this aircraft. An accurate, high-bandwidth, linear state-space model was derived for the hover condition. The model structure includes the explicit representation of regressive rotor-flap dynamics, rigid-body fuselage dynamics, and the yaw damper. The R-50 codiguration and identified dynamics are compared with those of a dynamically scaled UH-1H. The identified model shows excellent predictive capability and is well suited for flight control design and simulation applications.

BibTeX

@conference{Mettler-1999-14913,
author = {Bernard Mettler and Mark B. Tischler and Takeo Kanade},
title = {System Identification of Small-Size Unmanned Helicopter Dynamics},
booktitle = {Proceedings of 55th Annual Forum of the American Helicopter Society},
year = {1999},
month = {May},
volume = {2},
pages = {1706 - 1717},
}
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