1. 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 Rotorcraft Handling Qualities and System Identification 1 1

2. Motivation & Operational Goals of UC’s UAV Rotorcraft Program We want to use available quadrotor technology to help with structural firefighting In order to deploy quadrotors in live situations, we need to develop a controller/autopilot for them. We will need a mathematical model to do this. 2 2

3. When you don’t use autopilot… 3 3

4. How can we get this model? We can use a process called system identification. – Relates inputs to outputs. – Results in a mathematical model. We will need experimental data gathered from flight testing – Inputs from the physical RC controller – Outputs from the inertial measurement unit 4 4

5. Objectives Objective 1: Objective 1: Study the flight characteristics of the rotorcraft and learn how to pilot AR parrot drone. Objective 2: Objective 2: Utilize CIFER software and “System Identification” to create a dynamic model of the rotorcraft. Objective 3: Objective 3: Prepare a detailed flight test and modeling report. 5 5

6. Initial Testing 6 6

7. Piloted Guidelines for Inputs Start and end in trim (3 s of trim data). After initial trim period, two complete long-period inputs. Smooth, increasing progression in frequency. Don’t worry about amplitude. Maintain aircraft response transients to be symmetric to the trim flight condition. Nonswept controls should be applied to restrict off-axis responses. Timing is important. Don’t exceed max frequency if possible. 7 7

8. What kinds of inputs? 4 inputs total – Yaw – Pitch – Roll – Thrust 8 8

9. Input examples go here 9 9

10. What kinds of outputs? Inertial measurement unit measures 9 outputs simultaneously: – 3 attitudes Pitch, yaw, and roll angles – 3 angular rates – 3 accelerations 10

11. Output examples go here 11

12. System Identification 12

13. 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 13

14. What is System Identification? Inputs System Outputs 4 signal inputs9-12 motions 14

15. AR Drone Power Data Time History Circuit Board Quadrotor System Identification Process 15

16. Frequency-Response Method Frequency Sweep Inputs Aircraft Data Consistency & Reconstitution Multivariable Spectral Analysis Frequency Response & Partial Coherence Transfer Function & State Space Modeling 16

17. SysID Toolbox 17

18. Timeline Week 1Week 2Week 3Week 4Week 5Week 6Week 7Week 8 Learn to pilot Flight Testing Physical Model State Space Vali- dation Final Report Journal Paper Due Final Day 18

19. Questions? 19