Transcript Slide 1

Rotorcraft Handling Qualities
and System Identification
Faculty Mentor: Dr. Kelly Cohen
Graduate Student: Mr. Wei Wei
June 18, 2012
MOST-AERO Labs
Morphing and Optimization Systems Technology for Aerospace
Lab Director: Dr. Kelly Cohen (http://most-aero.uc.edu/)
Emergency Wildland Fire
Management
Morphing UAV
MODUS VTOL UAV
Morphing Wings
System I.D. of VTOL UAV
Intelligent Control
Educational Laboratory
Motivation & Operational Goals of
UC’s UAV Rototcraft Program
• Exploiting available quadrotor technology for
structural fire-fighting
• Capabilities include looking through windows of
high rise buildings, seeing through smoke
• Incorporate the following:
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Ease of operation
Safety
Night operations
Self preservation
Development of operation, training & maintenance
doctrines
AR Parrot Quadrotor Drone - Description of main parts
http://ardrone.parrot.com/parrot-ar-drone/usa
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AR Parrot Quadrotor Drone - Description of main parts
http://ardrone.parrot.com/parrot-ar-drone/usa/
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Main Goals of the REU Program
• System identification is a procedure by which a mathematical
description of vehicle or component dynamic behavior is
extracted from test data.
• These simulation models are then used to predict dynamic
behavior of the motion.
• The AR Parrot drone is a benchmark and serves as a simple
and effective means to develop dynamic models and the
appropriate controllers.
The main goal of this project is to apply state-of-the-art System
Identification techniques to develop the dynamic model of the
radio-controlled AR Parrot Quadrotor Drone system
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Quadrotor Flight Dynamics System Identification
AR Drone
Data
Power
Circuit Board
Status – Generic system for system I.D. for fixed wing/VTOL UAV developed
using CIFER®. The system is flying and taking data. Model validation is set for
Summer 2012
Time
History
Main Objectives of the REU Program
• Objective 1 – Students will study the flight characteristics of
the AR drone which will include dynamics of rotorcraft and
learning to fly this radio controlled air vehicle.
• Objective 2 – Students will utilize an experimental process
called "System Identification" and the CIFER software to
develop the dynamic model of the AR Parrot Quadrotor
Drone.
• Objective 3 – Students will prepare a detailed engineering
flight test and dynamic modeling report which will be
presented to our collaborators in Industry (Modus Recte Inc).
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