System Identification of Unmanned Helicopter: Applications to R-90

• Main Authors: Jen-Hung Tseng, 曾仁宏
• Other Authors: FU-YUEN HSIAO
• Format: Others
• Language: en_US
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/85597508275134117370

碩士 === 淡江大學 === 航空太空工程學系博士班 === 95 === The development of a parameterized model for a small-scale unmanned helicopter “H-ling” (a Thunder Tiger Raptor-90) and its identification using a frequency domain identification technique are described in this thesis. The construction of the R-90 dynamics using system ID techniques in this work is for potential applications to the control of autonomous hovering. Taking into consideration the future controller design, we adopt transfer functions of main channels as our dynamics model that explicitly accounts for the stabilizer bar, which has a strong influence on the flight dynamics characteristics. Several algorithms and software are utilized to investigate this problem. In specific, we first adopt ARX as the primary identification algorithm, whose applicability has been verified with the Yamaha R-50 parameters. Results obtained from ARX are then cross-checked with those from CIFER and PEM. Numerical simulations are given to demonstrate the validity of our results. The ultimate goal of this investigation is to extend the current work to build a fully functional autonomous rotorcraft.