Onboard Flow Sensing for Rotary-Wing UAV Pitch Control in Wind
نویسندگان
چکیده
Due to their size, small rotorcraft are vulnerable to external flow disturbances that are challenging to flight stability and control. This paper describes preliminary results from using onboard flow measurements to augment inertial sensors for attitude control. We derive a dynamic model that captures the aerodynamic effects of wind on a single degree-of-freedom tandem-rotor test stand. A pair of rotors generate control moments through differential thrust, subject to wind-induced effects such as blade-flapping and induced thrust. We design an attitude-control strategy that uses airspeed measurements to feedback linearize the system in the presence of an edgewise flow. Low-speed wind tunnel tests provide empirical coefficients to model the flow-induced moments and thrust generation for a small, stiff rotor. A test stand equipped with an inertial measurement unit and airspeed probe demonstrates the use of onboard flow-sensing for attitude stabilization via feedback control in wind.
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