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

机译：悬停中尺度双旋翼直升机的系统识别

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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29克双旋翼飞机的实验系统识别，这是目前世界上最小的基于摆线旋翼的飞机。双旋翼直升机使用两个沿相同方向旋转的摆线旋翼和常规的尾旋翼来克服反桨扭矩。将车辆小型化至目前的尺寸需要克服与车辆设计，控制和飞行测试有关的重大技术障碍。该车辆本来就不稳定，它使用了车载PD控制器并表现出稳定的盘旋飞行。 VICON运动捕捉系统用于收集悬停飞行中几次动作的姿态和位置数据，以激发系统的动态模式。使用时域系统识别技术，该数据用于提取悬停状态下悬停状态下飞行器的裸机线性线性时不变飞行动力学模型。通过分析模型的结构，可以推断出当前的微型旋翼飞机表现出动态行为，这在以前的大型双旋翼飞机上没有观察到。模型的本征分析表明，状态之间是高度耦合的。这是由于车辆的惯性较低，并且尾桨角动量的相对大小增加了。还观察到该系统在几种模式下都是非线性的，并且由于这个原因和耦合的控制输入，双旋翼直升机有可能变得非常敏捷。

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