R-MAX Helicopter State-Space Model Identification for Hover and Forward-Flight

摘要

This paper presents the Yamaha R-MAX helicopter hover and forward-flight state-space models computed from flight test data using a frequency-domain system identification method. The derived identified models show good agreement with the flight test data in both the frequency and time domains. The coupled rotor/stabilizer/fuselage dynamics are identified using a hybrid equation formulation, which is summarized in this paper. The vehicle response is dominated by the lightly damped coupled rotor/stabilizer/fuselage modes that were identified in the 10-25 rad/sec range. The identified state-space models presented herein are useful for flight dynamics, control, and simulation studies of rotorcraft unmanned aerial vehicles based on the Yamaha R-MAX.