Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
권호 표지
DOI QR코드

DOI QR Code

Flight Dynamic Identification of a Model Helicopter using CIFER®(II) - Frequency Response Analysis -

CIFER®를 이용한 무인 헬리콥터의 동특성 분석 (II) - 주파수 응답 해석 -

  • Bae, Yeoung-Hwan (Dept. of Industrial Machinery Engineering, Sunchon National University) ;
  • Koo, Young-Mo (Dept. of Bio-industrial Machinery Engineering, Kyungpook National University)
  • 배영환 (순천대학교 산업기계공학과) ;
  • 구영모 (경북대학교 생물산업기계공학과)
  • Received : 2011.11.08
  • Accepted : 2011.12.08
  • Published : 2011.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

The aerial application using an unmanned helicopter has been already utilized and an attitude controller would be developed to enhance the operational convenience and safety of the operator. For a preliminary study of designing flight controller, a state space model for an RC helicopter would be identified. Frequency sweep flight tests were performed and time history data were acquired in the previous study. In this study, frequency response of the flight test data of a small unmanned helicopter was analyzed by using the CIFER software. The time history flight data consisted of three replications each for collective pitch, aileron, elevator and rudder sweep inputs. A total of 36 frequency responses were obtained for the four control stick inputs and nine outputs including linear velocities and accelerations and angular velocities in 3-axis. The results showed coherence values higher than 0.6 for every primary control inputs and corresponding on-axis outputs for the frequency range from 0.07 to 4 Hz. Also the analysis of conditioned frequency response showed its effectiveness in evaluating cross coupling effects. Based on the results, the dynamic characteristics of the model helicopter can further be analyzed in terms of transfer functions and the undamped natural frequency and damping ratio of each critical mode.

Keywords

References

  1. Adiprawita, W., A. S. Ahmad and J. Sembiring. 2007. Automated flight test and system identification for rotary wing small aerial platform using frequency response analysis. Journal of Bionic Engineering. 4(4):237-244. https://doi.org/10.1016/S1672-6529(07)60037-7
  2. Bendat, J. S. and A. G. Piersol. 1993. Engineering application of correlation and spectral analysis. John Wiley & Sons, Inc., New York, N.Y. USA.
  3. CIFER User's Guide (Ver. 5.4.00). 2010. US Army Aeroflightdynamics Directorate. Ames Research Center. Moffett Field, CA. USA.
  4. Kang, T. G., C. S. Lee, D. K Choi, H. J. Jun, Y. M. Koo and T. H. Kang. 2010. Development of aerial application system attachable to unmanned helicopter - basic spraying characteristics for aerial application system. Journal of Biosystems Engineering. 35(4):215-223. (In Korean) https://doi.org/10.5307/JBE.2010.35.4.215
  5. Kim, Y. B. 2009. Government strategy to support the leasing business of unmanned helicopters. In: Proceedings of the Symposium on trends for the development and use of agricultural unmanned helicopters. April 23. Jeonju, pp. 15-26. (In Korean)
  6. Koo, Y. M., C. S. Lee, T. S. Seok, S. K. Shin, T. G. Kang, S. H. Kim and T. Y. Choi. 2006. Aerial application using a small RF controlled helicopter (I) - status and cost analysis. Journal of Biosystems Engineering. 31(2):95-101. (In Korean) https://doi.org/10.5307/JBE.2006.31.2.095
  7. Koo, Y. M., T. S. Seok, S. K. Shin, C. S. Lee and T. G. Kang. 2008. Mechanical development of an unmanned helicopter for precise small-scaled ULV aerial application - conceptual design and prototype. Journal of Biosystems Engineering. 33(2):94-100. (In Korean) https://doi.org/10.5307/JBE.2008.33.2.094
  8. Koo, Y. M., Y. Bae, T. S. Soek, S. K. Shin, H. J. Park. 2010. Tail rotor design and thrust test for a roll-balanced agricultural unmanned helicopter. Journal of Biosystems Engineering. 35(5):302-309. (In Korean) https://doi.org/10.5307/JBE.2010.35.5.302
  9. Mettler, B., M. B. Tishler, and T. Kanede. 1999. System identification of small-size unmanned helicopter dynamics. In: Proceedings of the American Helicopter Society 55th Forum, Montreal, Quebec, Canada. May, pp. 25-27.
  10. Park, H. J., Y. M. Koo, Y. Bae, M. Oh, C. O. Yang and M. H. Song. 2011. Flight dynamic identification of a model helicopter using CIFER (I) - flight test for the acquisition of transmitter input data. Journal of Biosystems Engineering. 36(6):467-475. (In Korean) https://doi.org/10.5307/JBE.2011.36.6.467
  11. Tischler, M. B. and R. K. Remple. 2006. Aircraft and rotorcraft system identification. American Institute of Aeronautics and Astronautics, Inc. 523 p.
  12. Yi, H. W., H. S. Choi and E. T. Kim. 2008a. Parameter identification of smart UAV 40% scale using CIFER. Aerospace Technology. 7(2):31-37. (In Korean)
  13. Yi, H. W., H. S. Choi and K. J. Sung. 2008b. System model estimation using CIFER. In: Proceedings of KARI., pp. 375-378. (In Korean)

Cited by

  1. Flight Dynamic Identification of a Model Helicopter Using CIFER® (III) - Transfer Function Analysis - vol.37, pp.3, 2012, https://doi.org/10.5307/JBE.2012.37.3.192
  2. Adaptability Evaluation of Attitude Control for Agricultural Helicopter using a Commercial Controller(II) vol.48, pp.6, 2014, https://doi.org/10.14397/jals.2014.48.6.399