Guanlin Wang

Model identification and control of a small-scale unmanned helicopter

Modeling is the basis of flight control system for unmanned helicopters. In this paper, modes partition method and structure traversal (MPM/ST) method is applied to derive the dynamic models of a small-scale unmanned helicopter, and thereby afford improved accuracy for flight controller design. Increment proportional integral derivative (IPID) controller is applied to each channel to compose the core-dynamic controller, which is designed to follow the hover command of an outer-loop controller. The simulation results showed significant benefits of the proposed approach in flight-control design for unmanned helicopters.

System identification for helicopter yaw dynamic modelling

This paper presents a method to accurately identify the yaw-dynamic model of an unmanned helicopter. First, the models structure is established by dynamic analysis. Then the model is reconstructed into a combination of three second-order subsystems. As the distribution of the damp ratios and natural frequencies of a second-order subsystems is limited, the model can be accurately identified from real-flight-test data. Finally, experiments are carried out to identify the yaw dynamic model. Results shown the modeling accuracy is improved through this approach.

Dynamic Modeling of an Unmanned Helicopter From Flight Test Data

Accurately modeling the dynamic characteristics of a helicopter is difficult and time-consuming. This paper presents a new identification approach which applies the modes partition method and structure traversal (MPM/ST) algorithm. The dynamic modes, instead of model parameters of each model structure, are sequentially identified through MPM. The model with the minimum cost function (CF) is chosen from the best model set and is defined as the final model. Real flight tests of an unmanned helicopter are carried out to verify the identification approach. Time- and frequency-domain results of the identified models clearly demonstrate the potential of MPM/ST in modeling such complex systems.Copyright