Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics

Authors:
S. K. Kim;D. M. Tilbury
Affiliations:
Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, 2350 Hayward St. Ann Arbor, MI 48109-2125;Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, 2350 Hayward St. Ann Arbor, MI 48109-2125
Venue:
Journal of Robotic Systems
Year:
2004

Citing 0
Cited 6

Full formation control for autonomous helicopter groups

Robotica
Non-Iterative nonlinear model predictive approach applied to the control of helicopters' group formation

Robotics and Autonomous Systems
A new methodology to improve interpretability in neuro-fuzzy TSK models

Applied Soft Computing
Nonlinear system and control of the model-scale helicopter

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Design of a PI-D controller of a scaled-model helicopter

ICS'06 Proceedings of the 10th WSEAS international conference on Systems
Applying order statistics to detection problems

Automation and Remote Control

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a mathematical model for a model-scale unmanned helicopter robot, with emphasis on the dynamics of the flybar. The interaction between the flybar and the main rotor blade is explained in detail; it is shown how the flapping of the flybar increases the stability of the helicopter robot as well as assists in its actuation. The model helicopter has a fast time-domain response due to its small size, and is inherently unstable. Therefore, most commercially available model helicopters use the flybar to augment stability and make it easier for a pilot to fly. Working from first principles and basic aerodynamics, the equations of motion for full six degree-of-freedom with flybar-degree of freedom are derived. System identification experiments and results are presented to verify the mathematical model structure and to identify model parameters such as inertias and aerodynamic constants. © 2004 Wiley Periodicals, Inc.