Abstract:
Modern system identification techniques were used to identify a linear model based on a nonlinear simulation of a concept Urban Air Mobility quadcopter, and compared to a perturbation-based model. These models were used to develop feedback controllers for both variable-pitch and variable-RPM variants of the quadcopter, with the handling qualities requirements determining current requirements for the electric motors. To have sufficient stability margins and bandwidth, the motor time constant for the variable-RPM system must be no greater than 0.122s. Both variable- RPM and variable-pitch systems were limited by the yaw axis, which relies on differential motor torque for control. The introduction of rotor cant alleviated this problem for the variable-pitch vehicle, allowing a 47% reduction in motor weight, relative to the uncanted variable-pitch system.