Abstract
This paper presents the continued research on UAV dynamic modeling at the Aerospace Engineering Department of the University of Kansas using a Thunder Tiger Raptor 50 V2 remote control (RC) helicopter. Previously, an uncoupled three-degree-of-freedom (3-DoF) linear parameter varying (LPV) dynamic model based on stability and control derivatives was presented. The response obtained from this model showed a high degree of correlation with the actual flight test data. The previous paper also highlighted the flight test instrumentation and data collection procedures. As a result of the on-going research on the dynamic modeling of the UAV helicopter, a complete six-degree-of-freedom (6-DoF) LPV model has been developed in the MathWork’s MATLAB and Simulink environment. An effort has been made to take into account the aerodynamic and inertial coupling between the longitudinal and lateral dynamics of the helicopter. Validation of the model was accomplished by comparing the results of the simulation with flight test data along with the data obtained from CIFER (Comprehensive Identification from FrEquency Response) model. The 6-DoF model showed a good correlation between actual flight test data and CIFER.
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