System Identification of Rotorcraft Faculty Mentor: Dr. Kelly Cohen Graduate Student: Mr. Wei Wei May 20, 2013.

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Presentation transcript:

System Identification of Rotorcraft Faculty Mentor: Dr. Kelly Cohen Graduate Student: Mr. Wei Wei May 20, 2013

MOST-AERO Labs MOSTAero MOST-AERO Labs Morphing and Optimization Systems Technology for Aerospace Lab Director: Dr. Kelly Cohen ( Emergency Wildland Fire Management Morphing UAVIntelligent Control Educational Laboratory MODUS VTOL UAV Morphing Wings System I.D. of VTOL UAV

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: – Ease of operation – Safety – Night operations – Self preservation – Development of operation, training & maintenance doctrines

4 AeroQuad Quadrotor

Approach 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 has served as a benchmark in 2012 we will continue using it as a preliminary stage in 2013 for study purposes as we apply our skills to obtain the dynamic model of a far more effective home-built quadrotor. 5

Quadrotor Flight Dynamics System Identification 6

AR Drone Power Data Time History Circuit Board Quadrotor Flight Dynamics System Identification 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

Main Goal of the REU Program 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 home-built Quadrotor Drone system. 8

Research Objectives Objective 1 – Students will study the flight characteristics of the AR drone/Aeroquad 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 Aeroquad Quadrotor Drone as a benchmark. Objective 3 – Students will apply the lessons learned on the Aeroquad Quadrotor Drone and apply them to developing the dynamic model of the effective (in terms of payload & endurance) home-built Quadrotor UAV. Objective 4 – Students will prepare a detailed engineering flight test and dynamic modeling report which will be presented to our collaborators in Industry (Modus Recte Inc). 9