Rotorcraft Handling Qualities and System Identification Owen Macmann, Aerospace Engineering, Pre-Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior, University of Cincinnati Mahogany M. Williams, Computer Engineering, Senior, Wilberforce University ASSISTED BY: Wei Wei, Graduate Research Assistant Dr. Kelly Cohen, Faculty Mentor

Motivation & Operational Goals of UC’s UAV Rotorcraft 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

AR Parrot Quadrotor Drone - Description of main parts http://ardrone

AR Parrot Quadrotor Drone - Description of main parts http://ardrone

Handling Qualities

Figure 3.2: Throttle movement

Throttle Command This command is provided by increasing (or decreasing) all the propeller speeds by the same amount. It leads to a vertical force WRT body-fixed frame which raises or lowers the quadrotor.

Visual: Throttle

Roll Figure 3.3: Roll movement

Roll Command This command is provided by increasing (or decreasing) the left propeller speed and by decreasing (or increasing) the right one simultaneously. It leads to a torque with respect to the X axis which makes the Quadrotor turn. B

Visual: Roll

Figure 3.4: Pitch movement

Pitch Command This command is very similar to the roll and is provided by increasing (or decreasing) the rear propeller speed and by decreasing (or increasing) the front one. It leads to a torque with respect to the Y axis which makes the Quadrotor turn. B

Yaw Figure 3.5: Yaw movement

Yaw Command This command is provided by increasing (or decreasing) the front-rear propellers’ speed and by decreasing (or increasing) that of the left-right couple. It leads to a torque with respect to the zB axis which makes the Quadrotor turn.

System Identification

What is System Identification? System Identification is the process of obtaining a mathematical model via extraction from test data. Using such models, we can predict the dynamic behavior of the motion of the quadrotor. 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

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

Frequency-Response Method Frequency Sweep Inputs Aircraft Data Consistency & Reconstitution Multivariable Spectral Analysis Frequency Response & Partial Coherence Transfer Function Modeling

Objectives Objective 1: Study the flight characteristics of the rotorcraft and learn how to pilot AR parrot drone. Objective 2: Utilize CIFER software and “System Identification” to create a dynamic model of the rotorcraft. Objective 3: Prepare a detailed flight test and modeling report.

This is what we do.

Timeline Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Learn to pilot Flight Testing Dynamic Model Transfer Function Protocol Final Report Journal Paper Due Final Day

Questions?