Modeling and Experimental Parameter Identification of a Multicopter via a Compound Pendulum Test Rig
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Authors
Capello, Elisa
Park, Hyeongjun
Tavora, Bruno
Guglieri, Giorgio
Romano, Marcello
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2015-11
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November 23-25, 2015
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Abstract
In this paper, a method to identify parame- ters of a multicopter is proposed via a compound pendu- lum test rig and data from an optical position tracking system. Moments of inertia and thrust parameters of a hexacopter are evaluated. In addition, a specific method is introduced to identify the torque by a propeller using a floating test bed. Then, nonlinear dynamic model is derived based on the obtained parameters. To verify the identification method, simulation results using the nonlinear model are compared with experimental results from flight tests.
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Article
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2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Cancun, Mexico. The article of record may be found at:http://ieeexplore.ieee.org/document/7441021/
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This material is partially based upon work supported by the Air Force Office of Scientific Research, Air Force Material Command, USAF under Award No. FA2386-14-1-5007
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.