Nonlinear Equations of Motion in the Simulation of the Raptor 50 V2 Remote Controlled Helicopter With Optimal Controller Design

Abstract

This paper will discuss the development and simulation of the nonlinear model of the Thunder Tiger Raptor 50 V2 remote controlled helicopter using MATLAB. The purpose of this research is as a follow -on to the Raptor Phase I project which concluded in 2004. T he purpose of the Phase I project was to develop the linear equations of motion of the rotorcraft and then demonstrate the model using MATLAB. The simulation was implemented as a linear parameter varying model of the Raptor 50. The purpose of this paper is to detail the development of the longitudinal nonlinear model of the Raptor as developed in MATLAB. The results of the simulation are verified using flight -test data. I. Introduction he need for improved autonomous guidance, navigation, and control algo rithms has become increasingly crucial as the role of unmanned air vehicles (UAV) expands. With this increase in operational requirements for UAVs, research is growing quickly in the area of intelligent UAV design. The area of development of suitable int elligent flight control architecture is a difficult but an important area of UAV research. This paper will use previously developed nonlinear equations of motion of the Raptor 50 V2 helicopter 1 and create a MATLAB simulation of the Raptor 50 V2 helicopter . The model will be verified against flight test data. MATLAB was chosen to simulate an analytical model of the helicopter due to its reasonable cost in terms of development time. Furthermore, it is crucial that high fidelity simulations are developed i n order to capture the dynamics of the rotorcraft as accuracy is imperative in control implementations, especially while dealing with the highly nonlinear and coupled nature of rotorcraft dynamics. This paper will discuss the development and simulation of the nonlinear model of a Thunder Tiger Raptor 50 V2 remote controlled helicopter using the MATLAB program. The purpose of this research is as a follow -on to the Raptor Phase I project which concluded in late 2004. The purpose of the Phase I project was t o develop the equations of motion for the nonlinear model of the rotorcraft and then demonstrate the model using MATLAB. The simulation was a linear parameter varying model of the Raptor 50. The purpose of this paper is to detail the development of the f ull longitudinal nonlinear model of the Raptor. The results of the simulation are further verified using flight -test data.