Design of a quadrotor flight test stand for system identification

Beharie M. M.; Pedro J. O.; Dala L.

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Design of a quadrotor flight test stand for system identification

机译：用于系统识别的四旋翼飞行试验台的设计

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This paper presents the design, development and construction of a flight test stand for a quadrotor UAV. As opposed to alternate forms of UAV, the power plant in the case of the quadrotor serves a dual purpose of control and propulsion. Since control and propulsion are coupled, the power plant (BLDC motor coupled with propeller) was studied in detail using a black box structure. Extractions of motor parameters in previous studies used traditional BLDC motor equations and propeller theory however the accuracy achievable and confidence in the extracted parameters remained questionable. The developed data acquisition process served to satisfy this need by the construction of a test bench that allows for the extraction of the unknown parameters instilling confidence in the modelling process. The established relationships are then used as inputs into a developed six degree of freedom Euler based mathematical model. A mission profile was constructed with distinct phases of which the mathematical model was used to simulate. Each phase in the mission profile excited different modes of the quadrotor dynamics creating an ideal simulation environment in which changes can be implemented and studied.

机译：本文介绍了四旋翼无人机飞行试验台的设计，开发和构造。与无人机的其他形式不同，在四旋翼飞行器中，动力装置具有控制和推进的双重目的。由于控制和推进是耦合的，因此使用黑匣子结构对动力装置（带螺旋桨的BLDC电动机）进行了详细研究。在以前的研究中，电动机参数的提取使用传统的BLDC电动机方程和螺旋桨理论，但是可达到的精度和对所提取参数的置信度仍然值得怀疑。开发的数据采集过程通过构建测试平台来满足此需求，该测试平台允许提取未知参数，从而在建模过程中注入了信心。然后将建立的关系用作已开发的基于六自由度Euler的数学模型的输入。构建了具有不同阶段的任务配置文件，并使用数学模型进行了模拟。任务配置文件中的每个阶段都激发了四旋翼动力学的不同模式，从而创造了理想的仿真环境，可以在其中实现和研究变化。

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《The Aeronautical Journal》 |2015年第1214期|501-521|共21页
作者
Beharie M. M.; Pedro J. O.; Dala L.;
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作者单位

UW CSIR, Pretoria, South Africa;

Univ Witwatersrand, Sch Mech Ind & Aeronaut Engn, Johannesburg, South Africa;

UP CSIR Aeronaut, Pretoria, South Africa;

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2. Autonomous reduced-gravity enabling quadrotor test-bed: Design, modelling and flight test analysis [J] . Siddhardha Kedarisetty Aerospace science and technology . 2019,第MARa期

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3. Design, development, and flight testing of a high endurance micro quadrotor helicopter [J] . Winslow Justin, Benedict Moble, Hrishikeshavan Vikram, International journal of micro air vehicles . 2016,第3期

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4. Open-Loop Quadrotor Flight Dynamics Identification in Frequency Domain via Closed-Loop Flight Testing [C] . Philipp Niermeyer, Thomas Raffler, Florian Holzapfel AIAA SciTech forum;AIAA guidance, navigation, and control conference . 2015

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5. Flight testing of small remotely piloted aircraft for system identification [D] . Wypyszynski, Aaron 2009

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Design of a quadrotor flight test stand for system identification

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