Modelamiento e identificación de parámetros para el helicóptero 2DOF quanser aero

Abstract

The following project addresses the identification of a non-linear dynamic model that adequately represents the behavior of the QUANSER AERO system in its configuration as a two-degree-of-freedom (2DOF) helicopter. This project focuses on the area of ​​unmanned aerial vehicles (UAVs), which is gaining relevance in various applications such as search and rescue, disaster prevention, traffic control and event recording, among others. This trend is due to the reduction of costs and its ability to operate at low altitudes. However, most of the research on this topic has focused on the design and implementation of control techniques, generally independent of the model, and even though modeling is mentioned, it is not further explored nor is the model validated. In order to obtain the systems (linear and non linear) models, the system is first modeled using the Euler-Lagrange method, considering the interactions between movements and inputs. Then, experimental system data is taken under different operating conditions, followed by the identification of the model parameters for validation; this being a crucial process for capturing the dynamics. Parameter estimation is then performed for the linear model, from which values ​​are subsequently extracted for the non-linear model. Finally, the models are adjusted and the results are validated. The research seeks to overcome the limitations of previous models, which did not faithfully represent the behavior of the system; not only by providing a particular model, but also an adequate method for modeling similar systems.