Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics
dc.contributor.author | Kim, S. K. | en_US |
dc.contributor.author | Tilbury, Dawn M. | en_US |
dc.date.accessioned | 2006-04-19T13:59:43Z | |
dc.date.available | 2006-04-19T13:59:43Z | |
dc.date.issued | 2004-03 | en_US |
dc.identifier.citation | Kim, S. K.; Tilbury, D. M. (2004)."Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics." Journal of Robotic Systems 21(3): 95-116. <http://hdl.handle.net/2027.42/34939> | en_US |
dc.identifier.issn | 0741-2223 | en_US |
dc.identifier.issn | 1097-4563 | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/34939 | |
dc.description.abstract | This paper presents a mathematical model for a model-scale unmanned helicopter robot, with emphasis on the dynamics of the flybar. The interaction between the flybar and the main rotor blade is explained in detail; it is shown how the flapping of the flybar increases the stability of the helicopter robot as well as assists in its actuation. The model helicopter has a fast time-domain response due to its small size, and is inherently unstable. Therefore, most commercially available model helicopters use the flybar to augment stability and make it easier for a pilot to fly. Working from first principles and basic aerodynamics, the equations of motion for full six degree-of-freedom with flybar-degree of freedom are derived. System identification experiments and results are presented to verify the mathematical model structure and to identify model parameters such as inertias and aerodynamic constants. © 2004 Wiley Periodicals, Inc. | en_US |
dc.format.extent | 432295 bytes | |
dc.format.extent | 3118 bytes | |
dc.format.mimetype | application/pdf | |
dc.format.mimetype | text/plain | |
dc.language.iso | en_US | |
dc.publisher | Wiley Subscription Services, Inc., A Wiley Company | en_US |
dc.subject.other | Engineering | en_US |
dc.subject.other | Electronic, Electrical & Telecommunications Engineering | en_US |
dc.title | Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics | en_US |
dc.type | Article | en_US |
dc.rights.robots | IndexNoFollow | en_US |
dc.subject.hlbsecondlevel | Industrial and Operations Engineering | en_US |
dc.subject.hlbsecondlevel | Mechanical Engineering | en_US |
dc.subject.hlbtoplevel | Engineering | en_US |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationum | Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, 2350 Hayward St. Ann Arbor, MI 48109-2125 | en_US |
dc.contributor.affiliationum | Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, 2350 Hayward St. Ann Arbor, MI 48109-2125 ; Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, 2350 Hayward St. Ann Arbor, MI 48109-2125 | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/34939/1/20002_ftp.pdf | en_US |
dc.identifier.doi | http://dx.doi.org/10.1002/rob.20002 | en_US |
dc.identifier.source | Journal of Robotic Systems | en_US |
dc.owningcollname | Interdisciplinary and Peer-Reviewed |
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