Longitudinal System Identification of Ornithopter with Automated Flight Tests^*

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• 作者：Hakseong Gim^* ; ^{hskim024@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Seungkeun Kim^* ; ^{skim78@cnu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Jinyoung Suk^* ; ^{jsuk@cnu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Sungbong Cho^** ; ^{chosb@add.re.kr" class="auth_mail" title="E-mail the corresponding author}
• 关键词：ornithopter ; flapping ; flight dynamics ; system identification
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：17
• 页码：194-199
• 全文大小：1705 K

文摘

The purpose of this paper is to identify a longitudinal linear model of an ornithopter by automated flight tests. Flight tests were conducted outdoors, and an avionic board with sensors was installed on-board for measuring angular rates, Euler angles, and a total velocity. For accurate flight test, automated signal input is designed for elevator deflection: doublet and multi-step 3211 maneuver. During a cruise flight, the ornithopter normally had oscillation which is generated by flapping motion of the main wings. Fast Fourier transform (FFT) is used for analyzing flight data in a frequency domain, and a Butterworth filter is designed to filter the corrupted data by the flapping motion. The structure of the ornithopter linear model is assumed to be similar to a fixed-wing aircraft which has a periodic oscillation because it has similar control surfaces except the flapping motions. For system identification, unknown parameters are estimated by unconstrained nonlinear optimization.