Rapid Frequency-Domain Modeling Methods for Unmanned Aerial Vehicle Flight Control Applications

摘要

Modeling of the flight dynamics of unmanned aerial vehicles (UAVs) poses unique challenges that are not present with manned aircraft. The use of analytical modeling methods based on first principles is often difficult for UAVs because of short design cycles, reduced development costs, and many unconventional designs. Also, without the need to carry a pilot, UAVs are often much smaller and lighter than manned aircraft. The lower weights and inertias result in higher natural frequencies and quicker vehicle responses requiring high bandwidth dynamics models. Frequency-domain system identification is especially well suited to the modeling of UAVs. With the availability of flight hardware early in many UAV programs, dynamic response models of the vehicle can be identified and validated rapidly with flight data. The system identification method also allows for rapid updating of vehicle response models as physical changes are made to the vehicle configuration. The use of frequency-domain system identification in the development and operation of a number of UAV programs is discussed. The example aircraft programs include Northrop Grumman's Fire Scout vertical takeoff unmanned air vehicle demonstrator based on the Schweizer 300 helicopter; the broad-area unmanned responsive resupply operations UAV based on Kaman's twin-rotor K-MAX helicopter; AeroVironment's Pathfinder solar-powered stratospheric research aircraft; Yamaha's R-50 small-scale helicopter; and the class of small-scale ducted fan vehicles developed separately by Allied Aerospace (formerly Micro Craft) and Honeywell.