Modeliing of a Small-Scale Remote Controllable Helicopter for Simulation and Control Development
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The next step in research at VT focuses on developing an experimental rotorcraft platform to be used for control algorithm testing and development. Before the development of a flight control system is possible, a physical plant or model accurately describing the dynamics of the system is required. Use of the model in a virtual simulation environment is also beneficial to tune control gains and analyze robustness of the closed-loop system. The work presented focuses on developing a 6 degree-of-freedom model of a small-scale single shaft rotorcraft. The particular platform being developed is the Bergen Industrial Twin. In addition to dynamical concerns, attention is paid to performance characteristics of the aircraft. The nonlinear system of equations is solved which can be utilized in a simulated environment. Linear models are extracted and their control and stability characteristics are analyzed. Finally, the methodology is explained for obtaining models through system identification techniques using the CIFER facility.
- Masters Theses