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System Identification of a Meso-Scale Twin-Cyclocopter in Hover

机译：悬停中的中间尺度双环Copter的系统识别

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The paper discusses experimental system identification of a 29 gram twin cyclocopter, which is currently the world's smallest cycloidal rotor based aircraft. The twin cyclocopter uses two cycloidal rotors rotating in the same direction and a conventional tail rotor to overcome the reaction pitch torque. Miniaturizing the vehicle to the present size required overcoming significant technical barriers pertaining to vehicle deign, control and flight testing. This vehicle, being inherently unstable, utilized an on-board PD controller and demonstrated stable, hovering flight. A VICON motion capture system was used to collect attitude and position data for several maneuvers in hovering flight intended to excite the dynamic modes of the system. This data was used to extract a bare airframe linear time invariant flight dynamics model of the vehicle around the trim state, hover, using time-domain system identification techniques. From analyzing the structure of the model, it was inferred that the present micro-cyclocopter exhibits dynamic behaviors, which was not previously obsered on significantly larger twin-cyclocopters. Eigen-analysis of the model reveals that the states are highly coupled to one another. This is due to the lower inertia of the vehicle and the increased relative magnitude of the tail rotor angular momentum. It was also observed that the system is non-linear in several modes and that because of this and the coupled control inputs, the twin-cyclocopter has the potential to be very agile.
机译：本文讨论了实验系统识别29克双环形转换器，目前是世界上最小的摆线转子的飞机。双循环转换器使用在相同方向上旋转的两个摆线转子和传统的尾转子以克服反应间距扭矩。将车辆小型化到当前规模所需的尺寸需要克服与车辆转诊，控制和飞行测试有关的重要技术障碍。该车辆固有不稳定，利用车载PD控制器并展示稳定，悬停飞行。 VICON运动捕获系统用于收集悬停飞行中的几种机动的姿态和位置数据，用于激发系统的动态模式。该数据用于利用时域系统识别技术，悬停在修剪状态周围的车辆的裸机线性时间不变动力学模型。通过分析模型的结构，推断目前的微环Copopter表现出动态行为，以前未在明显较大的双循环瓣上观白。模型的特征分析表明，各国彼此高度耦合。这是由于车辆的较低惯性以及尾转子角动量的增加的相对幅度。还观察到，该系统在几种模式下是非线性的，因此由于这个和耦合控制输入，双循环转换器具有非常敏捷的可能性。

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