Construction and Modeling of a Variable Collective Pitch Coaxial UAV

Jinqiang Cui, Fei Wang, Zhengyin Qian, Ben M. Chen, Tong H. Lee

2012

Abstract

This paper describes the construction and modeling of a coaxial unmanned aerial vehicle for in-forest operation. The bare helicopter platform is upgraded and mounted with an onboard navigation system, which includes central processing units and sensors such as inertial measurement unit, camera and scanning laser range finder. The model structure of the helicopter is formulated, in which the model of rotor thrust and roll-pitch dynamics are described in details. The flapping dynamics of the rotor and the stabilizer bar are presented and lumped into a state-space model. The parameters of the state-space model are identified in frequency domain using CIFER. Time domain verification with a new set of flight data exhibits excellent agreement with the prediction of the identified model.

Paper Citation

in Harvard Style

Cui J., Wang F., Qian Z., Chen B. and Lee T. (2012). Construction and Modeling of a Variable Collective Pitch Coaxial UAV . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 286-291. DOI: 10.5220/0004039502860291

in Bibtex Style

@conference{icinco12,
author={Jinqiang Cui and Fei Wang and Zhengyin Qian and Ben M. Chen and Tong H. Lee},
title={Construction and Modeling of a Variable Collective Pitch Coaxial UAV},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={286-291},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039502860291},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Construction and Modeling of a Variable Collective Pitch Coaxial UAV
SN - 978-989-8565-22-8
AU - Cui J.
AU - Wang F.
AU - Qian Z.
AU - Chen B.
AU - Lee T.
PY - 2012
SP - 286
EP - 291
DO - 10.5220/0004039502860291