Dynamic Model Identification of Quadrotor UAV based on Frequency-Domain Approach

주파수 영역 기반 쿼드로터 무인기 운동 모델 식별

Jung, Sunggoo;Kim, Sung-Yug;Jung, Yeundeuk;Kim, Eung-Tai

  • Received : 2015.10.01
  • Accepted : 2015.12.10
  • Published : 2015.12.31


Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.


Quadrotor;Dynamic Model;Parameter Estimation;System Identification;Frequency Sweep


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