Modeling and Identification of a Launched Micro Air Vehicle: Design and Experimental Results
Résumé
In this paper we present a comprehensive design of a Gun Launched Micro Air Vehicle (GLMAV), a new Micro Air Vehicle (MAV) concept using two-bladed coaxial contra-rotating rotors. The MAV packaged in a projectile is launched using the energy delivered by a portable weapon. When it reaches the apogee, the projectile is transformed in such a way that the MAV becomes operational over the zone to be observed. A detailed GLMAV nonlinear mathematical model was presented for hover and near-hover flight conditions. An experiment using a strain-gage aerodynamic balance was designed to measure the load output data according to the input. Simplifications brought to the aerodynamic submodel had permitted its linearization in the parameter space. In doing so, the parameter estimation was based on the Kalman filter linear estimation method applied to the simplified aerodynamic model and using the input-output data from the experiment. The parameter estimation results have been presented and validated through comparisons between the model output reconstructions and other measured data sets. These final results had proved the good prediction capabilities of the identified aerodynamic model.