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
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"
Conference_Titel :
Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 Workshop on
DOI :
10.1109/RED-UAS.2015.7441021