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Meeting	ACGS Committee Meeting 129 - Colorado Springs, CO - October 2022
Agenda Location	9 SUBCOMMITTEE D – DYNAMICS, COMPUTATIONS, AND ANALYSIS 9.1 Identification and Optimized Control Design of a Sub-Scale Flybarless Helicopter
Title	Identification and Optimized Control Design of a Sub-Scale Flybarless Helicopter
Presenter	Jeffry Walker
Affiliation	Birhle Applied Research
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	This paper demonstrates the complete end-to-end procedure of bare-airframe system identification, simulation model updates using black-box filters and the application of Froude scaled ADS-33 specifications to design an inner- and outer-loop control system for a sub-scale flybarless helicopter. Flight tests were conducted utilizing Pixhawk hardware in the form of a CUAV v5 flight computer running the ArduCopter software stack. CIFER® was utilized to process the flight data into the frequency domain and identify a higher-order hybrid model suitable for the highly-coupled rotor/fuselage dynamics of the sub-scale vehicle. The black-box filters provide a simple and effective update to the vehicle plant resulting in accurate translation of design to flight. Design specifications for manned rotorcraft specified by ADS-33 are Froude scaled and applied as design minimums with adjustments made to accommodate limiting vehicle dynamics. The control system is optimized using CONDUIT® and design margin optimization is used to maximize the vehicle performance. Flight testing is conducted to validate the control laws using system identification and the vehicle performance is demonstrated using scaled Mission Task Elements.