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Longitudinal System Identification of an Avian-Type UAV Considering Characteristics of Actuator

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Abstract

To develop autonomous flapping aircraft, basic mathematical modeling is essential to solve the problem of “uncertainty models” in biomimetic flight dynamics. This study identified the longitudinal linear model of an ornithopter via automated flight tests and sensors onboard the ornithopter to measure angular rates, Euler angles, and total velocity. For accurate flight tests, automated signal input was designed for elevator deflection: doublet and multistep 3211 maneuver. Furthermore, because the flapping motion of the ornithopter’s main wings generates oscillations during cruise flight, fast Fourier transform is used to analyze flight data in the frequency domain, and a Butterworth filter is used to filter out the flapping motion from the data. The characteristics of the actuator are then analyzed using a motion capture camera and applied to the system identification. The structure of the ornithopter linear model is found to be similar to that of a fixed-wing aircraft, which has a periodic oscillation. The results from the flight tests and analysis manifest that an ornithopter has unstable characteristics due to a single right-half plane real pole.

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Acknowledgements

This research was supported by a Grant to Bio-Mimetic Robot Research Center funded by Defense Acquisition Program Administration, and by Agency for Defense Development (UD130070ID). In addition, this study was partly supported by National Research Foundation in Republic of Korea (Contract no. NRF-2015R1C1A1A02036862), and the Ministry of Trade, Industry and Energy (MOTIE) of Korea, Republic (Contract no. 10062327).

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Authors and Affiliations

  1. Agency for Defense Development, Daejeon, 34186, Republic of Korea

    Hakseong Gim & ByoungJu Lee

  2. Space Solutions, Daejeon, 34051, Republic of Korea

    Jaeyeon Huh

  3. Department of Aerospace Engineering, Chungnam National University, Daejeon, 34134, Republic of Korea

    Seungkeun Kim & Jinyoung Suk

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  1. Hakseong Gim
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  2. ByoungJu Lee
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  3. Jaeyeon Huh
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  4. Seungkeun Kim
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  5. Jinyoung Suk
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Correspondence to Seungkeun Kim.

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Gim, H., Lee, B., Huh, J. et al. Longitudinal System Identification of an Avian-Type UAV Considering Characteristics of Actuator. Int. J. Aeronaut. Space Sci. 19, 1017–1026 (2018). https://doi.org/10.1007/s42405-018-0084-5

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  • DOI: https://doi.org/10.1007/s42405-018-0084-5

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