The gimballed helicopter testbed: Design, build and validation.

摘要

To facilitate the development of an autonomous robot helicopter, an indoor helicopter flight test apparatus has been designed, built and validated. The design is motivated by a brief discussion of helicopter dynamics. Several options for the apparatus are considered and a detailed specification is laid out. Key design considerations are discussed in detail and the final design for the gimbal test stand is presented. Associated equipment is described and a manual for the operation of the stand is appended. To validate the capabilities of the test stand a system identification experiment was performed repeatedly. The consistency of the model extracted indicates that the entire system is reliable and accurate.