System Identification Modeling of a Small-Scale Unmanned Helicopter

Bernard Mettler, M. B. Tischler, and Takeo Kanade
Journal of the American Helicopter Society, , October, 2001


Download
  • Adobe portable document format (pdf) (3MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper describes the development of a parameterized model for a small-scale unmanned helicopter (Yamaha R-50 with 10 ft rotor diameter) and its identification using a frequency domain identification technique. The model explicitly accounts for the stabilizer bar, which has a strong influence on the flight dynamics characteristics. The accuracy of the identified model is verified by comparing the model-predicted responses with the responses collected during flight experiments. Furthermore, the values of key identified parameters are compared with the values predicted by helicopter theory to show that the model has a physically meaningful parameterization. Both hover and cruise flight conditions are examined.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): Helicopter Lab
Associated Project(s): Autonomous Helicopter
Number of pages: 14

Text Reference
Bernard Mettler, M. B. Tischler, and Takeo Kanade, "System Identification Modeling of a Small-Scale Unmanned Helicopter," Journal of the American Helicopter Society, , October, 2001

BibTeX Reference
@article{Mettler_2001_4879,
   author = "Bernard Mettler and M. B. Tischler and Takeo Kanade",
   title = "System Identification Modeling of a Small-Scale Unmanned Helicopter",
   journal = "Journal of the American Helicopter Society",
   month = "October",
   year = "2001",
}