DocumentCode :
3764039
Title :
Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig
Author :
Elisa Capello;Hyeongjun Park;Bruno Tavora;Giorgio Guglieri;Marcello Romano
Author_Institution :
Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, 10129, Italy
fYear :
2015
Firstpage :
308
Lastpage :
317
Abstract :
In this paper, a method to identify parameters of a multicopter is proposed via a compound pendulum 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.
Keywords :
"Propellers","Rotors","Torque","Geometry","Compounds","Engines","Nonlinear dynamical systems"
Publisher :
ieee
Conference_Titel :
Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 Workshop on
Type :
conf
DOI :
10.1109/RED-UAS.2015.7441021
Filename :
7441021
Link To Document :
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