Comprehensive Nonlinear Modeling of a Miniature Unmanned Helicopter

A nonlinear flight dynamics model that can be adopted by small-scale unmanned aerial vehicle (UAV) helicopters is presented. To minimize structural complexity, the proposed nonlinear model contains only four essential components, i.e., kinematics, rigid-body dynamics, main rotor flapping dynamics, and yaw rate feedback controller dynamics. A five-step parameter determination procedure is proposed to estimate the unknown parameters of the flight dynamics model. Based on the time-domain evaluations conducted, the nonlinear model is proven to be accurate in capturing the flight dynamics of our UAV helicopter platform over a wide envelope.

[1]  Christian Holubarsch,et al.  The Frequency Response Method , 2002 .

[2]  Franklin D. Harris,et al.  Articulated Rotor Blade Flapping Motion at Low Advance Ratio , 1972 .

[3]  Christian Munzinger.  Development Of A Real-Time Flight Simulator For An Experimental Model Helicopter , 1998 .

[4]  Sheldon Rubin,et al.  CHAPTER 3 VIBRATION OF A RESILIENTLY SUPPORTED RIGID BODY , 2001 .

[5]  Bernard Mettler,et al.  System identification modeling of a small-scale unmanned rotorcraft for flight control design , 2002 .

[6]  Mark B. Tischler,et al.  R-MAX Helicopter State-Space Model Identification for Hover and Forward-Flight , 2006 .

[7]  Thomas J. Mueller,et al.  Low Reynolds Number Aerodynamics of Low-Aspect-Ratio, Thin/Flat/Cambered-Plate Wings , 2000 .

[8]  Bernard Mettler,et al.  Identification Modeling and Characteristics of Miniature Rotorcraft , 2002 .

[9]  Hyoun Jin Kim,et al.  Control system design for rotorcraft-based unmanned aerial vehicles using time-domain system identification , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[10]  M. A. Mnich,et al.  Minimum-complexity helicopter simulation math model , 1988 .

[11]  A.R.S. Bramwell,et al.  Bramwell's Helicopter Dynamics , 2001 .

[12]  Mark B. Tischler,et al.  Aircraft and Rotorcraft System Identification: Engineering Methods with Flight-Test Examples , 2006 .

[13]  Bernard Mettler,et al.  Nonlinear model for a small-size acrobatic helicopter , 2001 .

[14]  P. Bendotti,et al.  Identification and control of a model helicopter in hover , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[15]  David J. Olinger,et al.  Lift Distributions on Low-Aspect-Ratio Wings at Low Reynolds Numbers for Micro-Air Vehicle Applications , 2004 .

[16]  Takeo Kanade,et al.  System identification of small-size unmanned helicopter dynamics , 1999 .

[17]  Ronald A. Hess,et al.  Study of Helicopter Roll Control Effectiveness Criteria. , 1986 .

[18]  Johnnie A. Ham,et al.  Flight testing and frequency domain analysis for rotorcraft handling qualities characteristics , 1993 .

[19]  Mark B. Tischler,et al.  Frequency-Response Method for Rotorcraft System Identification: Flight Applications to BO 105 Coupled Rotor/Fuselage Dynamics , 1992 .

[20]  Mario Innocenti,et al.  Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling , 1999 .

[21]  Frank L. Lewis,et al.  Aircraft Control and Simulation , 1992 .

[22]  Eastman N. Jacobs,et al.  Airfoil section characteristics as affected by variations of the Reynolds number , 1939 .

[23]  Dawn M. Tilbury,et al.  Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics , 2004, J. Field Robotics.