Mathematical Modeling and Experimental Identification of Micro Coaxial Helicopter Dynamics

This paper deals with the problem of development of the mathematical model of a micro coaxial helicopter using hybrid method of analytical and experimental approach. An analytical mathematical model of micro coaxial helicopter has been derived with the consideration of dynamics of rotating parts to the rigid body dynamics. Pre-flight simulation was carried out based on the derived mathematical model to simulate the flight test scenarios. A sensory system was developed and installed onboard to capture the helicopter state during the flight test for the purpose of identifying parameters. Two steps system identification based on flight test data was used to estimate the parameters in the mathematical model. The Extended Kalman Filter was applied to estimate the states of the helicopter. Subsequently, based on measured flight test data, Total Least Square method was used to estimate the aerodynamic parameters in the linearized model of force and moment coefficients in the longitudinal mode. As a result, a mathematical model of micro coaxial helicopter with adequate parameters has successful been obtained. The verifications show that the estimated model of force and moment coefficients fit well the corresponding measured quantities in both phase and amplitude.