Modeling and System Identification of the muFly Micro Helicopter.
ABSTRACT An accurate mathematical model is indispensable for simulation and control of a micro helicopter. The nonlinear model in this
work is based on the rigid body motion where all external forces and moments as well as the dynamics of the different hardware
elements are discussed and derived in detail. The important model parameters are estimated, measured or identified in an identification
process. While most parameters are identified from test bench measurements, the remaining ones are identified on subsystems
using the linear prediction error method on real flight data. The good results allow to use the systems for the attitude and
altitude controller design.
- SourceAvailable from: Roland Siegwart[show abstract] [hide abstract]
ABSTRACT: The goal of the European project muFly is to build a fully autonomous micro helicopter, which is comparable to a small bird in size and mass. The rigorous size and mass constraints infer various problems related to energy efficiency, flight stability and overall system design. In this research, aerodynamics and flight dynamics are investigated experimentally to gather information for the design of the helicopter's propulsion group and steering system. Several test benches are designed and built for these investigations. A coaxial rotor test bench is used to measure the thrust and drag torque of different rotor blade designs. The effects of cyclic pitching of the swash plate and the passive stabilizer bar are studied on a test bench measuring rotor forces and moments with a 6-axis force sensor. The gathered knowledge is used to design a first prototype of the muFly helicopter. The prototype is described in terms of rotor configuration, structure, actuator and sensor selection according to the project demands, and a first version of the helicopter is shown. As a safety measure for the flight tests and to analyze the helicopter dynamics, a 6DoF vehicle test bench for tethered helicopter flight is used.Journal of Intelligent and Robotic Systems 01/2009; 54:245-260. · 0.83 Impact Factor
Conference Proceeding: Micro Helicopter Steering: Review and Design for the muFly Project[show abstract] [hide abstract]
ABSTRACT: The steering system on a micro helicopter is the key element for control and navigation. For a sufficient control authority the steering has to be fast, precise, reliable and lightweight. While on full scale helicopters the choice of the steering mechanism is limited, there exist many possibilities to steer a helicopter in small scale. In this paper a survey on different concepts is given followed by a realization on the coaxial micro helicopter muFly. The mechanism uses piezoelectric actuation and a simplified swash plate to apply cyclic pitch and thus maneuver the Micro Air Vehicle.Mechtronic and Embedded Systems and Applications, 2008. MESA 2008. IEEE/ASME International Conference on; 11/2008
Conference Proceeding: Modeling and nonlinear control for a coaxial helicopter[show abstract] [hide abstract]
ABSTRACT: In this paper a simplified model and a nonlinear control algorithm for a coaxial helicopter are presented. The model of the helicopter dynamics is obtained in hover conditions. By neglecting the small body forces due to the mechanism used to obtain the torque control, a dynamic controller, based on backstepping techniques, is developed. Some simulation results are presented to illustrate the performance of such a controller.Systems, Man and Cybernetics, 2002 IEEE International Conference on; 11/2002