Mathematical modeling, simulation and identification of micro coaxial helicopter

• Autorzy: Muhammad H. , Thien H. P. , Mulyanto T.
• Języki publikacji: EN

Abstrakty

EN

Micro Coaxial Helicopter with compact size and vertical takeoff ability offers a good Micro Aerial Vehicle (MAV) configuration to handle indoor mission such as search, rescue and surveillance. An autonomous MAV helicopter equipped with micro vision devices could provide more information of the scene, in which the human present is risky. Toward an autonomous flight, mathematical model of the helicopter should be obtained before controller design takes place. This paper will discuss the mathematical modelling, simulation and identification of a micro coaxial helicopter. The mathematical model of the micro coaxial helicopter will be presented, in which total forces and moment are expressed as a Taylor series expansion as function of the state and control variables. The mathematical model will be used to simulate the helicopter responses due to control input. The simulation was used to obtain better understanding of the characteristics of the helicopter before flight test program are performed. Flight test program dedicated to identify the parameter of the micro coaxial helicopter have been carried out. The micro coaxial helicopter was instrumented with sensory system to measure some input and output variables. The use of Kalman filter to estimate the state and total least squares to estimate the aerodynamic parameter of micro coaxial helicopter based on the flight test data will be presented. Some identification results and model validation will be given in this paper.

Słowa kluczowe

EN

micro coaxial helicopter; mathematical modelling; flight simulation; parameter identification

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2012
• Tom: Vol. 19, No. 2
• Strony: 353--364
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Muhammad H.

autor

Thien H. P.

autor

Mulyanto T.

• Institut Teknologi Bandung Faculty of Mechanical and Aerospace Engineering Department of Aeronautics and Astronautics Jl. Ganeca 10, Bandung 40132, Indonesia tel.: [phone], fax: [phone],

Bibliografia

• [1] www.helipal.com/walkera-hm-lama-400d-helicopter-yellow-2-4g-metal-edition.html, lastvisited: January 26, 2012.
• [2] Thien, H. P., System modelling and identification of coaxial rotor micro aerial vehicle, Ph.D. Dissertation, Department of Aeronautics and Astronautics, Institut Teknologi Bandung, Bandung, Indonesia 2012.
• [3] Schafroth, D., Boaubdallah, S., Bermes, C., Siegwart, R., Modelling and system identificationof muFly micro helicopter, Journal of Intelligent Robot System, pp. 27-47, 2010.
• [4] Shin, J., Fujiwara, D., Nonami, K., Hazawa, K., Model-based optimal attitude and positioning control of small-scale unmanned helicopter, Journal of Robotica, Vol. 23, pp. 51–63, 2005.
• [5] Leishman, J. G., Principle of Helicopter Aerodynamics. Cambridge University Press, pp. 134-138, 2000.
• [6] Muhammad, H., Thien, H. P., Mulyanto, T., Estimation of aerodynamic parameter of micro aerial vehicle using total least squares, Proceedings of the 4th Regional Conference on Mechanical and Aerospace Technology, pp. 441-447, Ho Chi Minh City, Vietnam 2012.
• [7] Thien, H. P., Mulyanto, T., Muhammad, H., Suzuki, S., Mathematical modelling andexperimental system identification of micro coaxial helicopter dynamics, International Journal of Basic & Applied Science IJBAS-JENS, Vol. 12, No. 02, pp. 88-102, April 2012.
• [8] Thien, H. P., Mulyanto, T., Muhammad, H., Modelling and identification of longitudinal dynamic model of micro coaxial helicopter, Proceedings of the 4th Regional Conference on Mechanical and Aerospace Technology, pp. 468-475, Ho Chi Minh City, Vietnam 2012.
• [9] Muhammad, H., Thien, H. P., Mulyanto, T., Total least squares estimation of aerodynamic parameter of micro coaxial helicopter from flight data, International Journal of Basic & Applied Science IJBAS-IJENS, Vol. 12, No. 02, pp. 44-52, April 2012.
• [10] Mettler, B., Identification modelling and characteristics of miniature rotorcraft, Kluwer Academic Publishers, Boston 2003.
• [11] Laban, M., Masui, K., Total least square estimation of aerodynamics model parameters from flight data, Journal of Aircraft, Vol. 30, No. 1, pp. 150-152, 1992.