Simulation, Flight Dynamics, and Control Design for a Coaxial Rotorcraft

Hosseini, Seyedbarzin; Mbikayi, Zoe; Bachfischer, Michael; Holzapfel, Florian; Rauleder, Juergen

doi:10.2514/6.2024-1717

AIAA SCITECH 2024 Forum 2024

DOI: 10.2514/6.2024-1717

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Simulation, Flight Dynamics, and Control Design for a Coaxial Rotorcraft

Seyedbarzin Hosseini,

Zoe Mbikayi,

Michael Bachfischer

et al.

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2024

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Cited by 2 publications

References 19 publications

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Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Steffensen,

Ginnell,

Holzapfel

2024

Actuators

Self Cite

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An incremental differential proportional integral (iDPI) control law using eigenstructure assignment gain design is tested in flight on a subscale platform to validate its suitability for fixed-wing flight control. A kinematic relation for the aerodynamic side-slip angle rate is developed to apply a pseudo full state feedback. In order to perform the gain design and assessment, a plant model is estimated using flight test data from gyro, accelerometer, airspeed and surface deflection measurements during sine-sweep excitations. Transfer function models for the actuators and surface deflections are identified both in-flight and on the ground for several different actuators and control surfaces using hall sensor surface deflection measurements. The analysis reveals a large variation in bandwidth between the different types of servo motors. Flight test results are presented which demonstrates that the plant model estimates based on tests with good frequency excitation, high bandwidth actuators and surface deflection measurements can be used to reasonably predict the closed-loop dynamic behavior of the aircraft. The closed-loop flight test results of the iDPi control law show good performance and lays the groundwork for further development.

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Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Steffensen,

Ginnell,

Holzapfel

2024

Actuators

Self Cite

View full text Add to dashboard Cite

show abstract

Conversion of a Coaxial Rotorcraft to a UAV—Lessons Learned

Hosseini,

Rhein,

Holzapfel

et al. 2024

Aerospace

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A coaxial helicopter with a maximum take-off weight of 600 kg was converted to an unmanned aerial vehicle. A minimally invasive robotic actuator system was developed, which can be retrofitted onto the copilot seat of the rotorcraft in a short period of time to enable automatic flight. The automatic flight control robot includes electromechanical actuators, which are connected to the cockpit inceptors and control the helicopter. Most of the sensors and avionic components were integrated into the modular robotic system for faster integration into the rotorcraft. The mechanical design of the control system, the development of the robot control software, and the control system architecture are described in this paper. Furthermore, the multi-body simulation of the robotic system and the estimation of the linear low-order actuator models from hover-frame flight test data are discussed. The developed technologies in this study are not specific to a coaxial helicopter and can be applied to the conversion of any crewed flight vehicle with mechanical controls to unmanned or fly-by-wire. This agile development of a full-size flying test-bed can accelerate the testing of advanced flight control laws, as well as advanced air mobility-related functions.

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Simulation, Flight Dynamics, and Control Design for a Coaxial Rotorcraft

Cited by 2 publications

References 19 publications

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Conversion of a Coaxial Rotorcraft to a UAV—Lessons Learned

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