Identification and integration of ornithopter actuator models
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abstract
Actuators equipped on ight vehicles potentially have non-ideal dynamics that when ignored, decrease both the accuracy of system identification efforts and the closed-loop performance of ensuing control algorithms. This work presents the system identification and integration of DC motor and servo motor dynamical models into a nonlinear multibody model of ornithopter flight dynamics, resulting in a complete model describing the evolution of position and velocity states as a function of pilot inputs. First principles, step-wise regression, and maximum likelihood methods were employed to obtain good model fits in the time domain using linear second order models. A reformulation of the ornithopter ight dynamics incorporating these actuators and a four-bar transmission mechanism results in a compact state-space model evolving a minimal number of state equations. Copyright 2009 by the American Institute of Aeronautics and Astronautics, Inc.
