1. 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

2. 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

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

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

5. Handling Qualities

6. Figure 3.2: Throttle movement

7. 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.

8. Visual: Throttle

9. Roll
Figure 3.3: Roll movement

10. 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

11. Visual: Roll

12. Figure 3.4: Pitch movement

13. 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

14. Yaw
Figure 3.5: Yaw movement

15. 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.

16. System Identification

17. 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

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

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

20. 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.

21. This is what we do.

22. 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

23. Questions?