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dc.contributor.authorBhandari, Subodh
dc.descriptionDissertation (Ph.D.)--University of Kansas, Aerospace Engineering, 2007.en_US
dc.description.abstractThere has been a significant growth in the use of UAV helicopters for a multitude of military and civilian applications over the last few years. Due to these numerous applications, from crop dusting to remote sensing, UAV helicopters are now a major topic of interest within the aerospace community. The main research focus is on the development of automatic flight control systems (AFCS). The design of AFCS for these vehicles requires a mathematical model representing the dynamics of the vehicle. The mathematical model is developed either from first-principles, using the equations of motion of the vehicle, or from the flight data, using parameter identification techniques. The traditional six-degrees-of-freedom (6-DoF) dynamics model is not suitable for high-bandwidth control system design. Such models are valid only within the low- to mid-frequency range.

The agility and high maneuverability of small-scale helicopters require a high-bandwidth control system for full authority autonomous performance. The design of a high-bandwidth control system in turn requires a high-fidelity simulation model that is able to capture the key dynamics of the helicopter. These dynamics include the rotor dynamics.

This dissertation presents the development of a 14-degrees-of-freedom (14-DoF) state-space linear model for the KU Thunder Tiger Raptor 50 UAV helicopter from first-principles and from flight test data using a parameter identification technique for the hovering and forward flight conditions. The model includes rigid body, rotor regressive, rotor inflow, stabilizer bar, and rotor coning dynamics. The model is implemented within The MathWork's MATLAB/Simulink environment. The simulation results show that the high-order model is able to predict the helicopter's dynamics up to the frequency of 30 rad/sec.

The main contributions of this dissertation are the development of a high-order simulation model for a small UAV helicopter from first-principles and the identification of a high-order model for a UAV helicopter of the size of the Raptor 50 helicopter using flight test data. Another key contribution of this research is the calculation and identification of stability and control derivatives for the Raptor 50 helicopter. These can readily be used without any further modification for the design of control systems.
dc.publisherUniversity of Kansasen_US
dc.rightsThis item is protected by copyright and unless otherwise specified the copyright of this thesis/dissertation is held by the author.en_US
dc.subjectApplied sciencesen_US
dc.subjectForward flighten_US
dc.subjectParameter identificationen_US
dc.subjectUnmanned aerial vehiclesen_US
dc.titleFlight validated high-order models of UAV helicopter dynamics in hover and forward flight using analytical and parameter identification techniquesen_US
dc.thesis.degreeDisciplineAerospace Engineering

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