High-Order Dynamics Models of a Small UAV Helicopter Using Analytical and Parameter Identification Techniques

摘要

This paper presents the development of a 12-degree-of-freedom flight dynamics model for a small-scale unmanned helicopter in both hovering and forward flight. The helicopter was fully instrumented and flight-tested for this modeling work. The development of this detailed model, appropriate for the design of a high-bandwidth control system, for such a small unmanned helicopter is unique. The model utilizes both detailed physics-based modeling and state-of-the-art parameter identification techniques. The model includes the coupled rotor-body-stabilizer bar dynamics along with the heave-inflowconing dynamics. The rotor regressive flapping dynamics and the stabilizer bar dynamics are included within the model using a first-order approximation to the second-order flapping dynamics. The effect of the second-order coning dynamics and inflow dynamics on the heavemotion is also discussed. This modeling process can be extended tomodel other small-scale unmanned aerial vehicle helicopters.