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On the Tip–Path-Plane Flapping Angles Estimation for Small–Scale Flybarless Helicopters at Near–Hover

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New Developments and Advances in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 175))

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Abstract

Observing the Tip-path-plane (TPP) flapping motion is essential for characterizing the helicopter’s main rotor dynamics. The high-order harmonics of the rotor blade flapping periodic motion are considered the major sources of helicopter vibration. However, incorporating precise information of the flapping dynamics with the overall helicopter dynamic model describes better the main rotor motion. This enables designers to innovate blade designs that have less dynamic vibration. Moreover, the flapping states are crucial for analysing the main rotor axial force and moment components. However, obtaining measurements for the flapping states is not directly possible. This mandates researchers in the field to exclude the flapping dynamics, despite being essential, and use some algebraic expressions and numerical approximations instead. This chapter addresses the problem of designing a model-based estimation algorithm for the unobservable flapping angles while a near-hover flight is being carried out. A Kalman state estimation algorithm is designed to provide accurate flapping estimates for the Maxi Joker 3 flapping angles. The presented estimator has succeeded in obtaining accurate longitudinal and lateral flapping angles estimates with small root mean square error of estimation of 0.3770∘ and 0.2464∘, respectively. Besides several simulation tests, a real outdoor near-hover flight was performed to validate the proposed estimation method.

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Waterloo, ON, Canada

    Mohammad K. Al–Sharman

  2. Mechanical Engineering Department, American University of Sharjah, Sharjah, UAE

    Mamoun F. Abdel–Hafez

Authors
  1. Mohammad K. Al–Sharman
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  2. Mamoun F. Abdel–Hafez
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Corresponding author

Correspondence to Mohammad K. Al–Sharman .

Editor information

Editors and Affiliations

  1. Sfax Engineering School, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  2. Department of Electrical and Computer Engineering College of Engineering, Sultan Quaboos University, Muscat, Oman

    Jawhar Ghommam

  3. University of the West of England, Bristol, UK

    Quanmin Zhu

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Al–Sharman, M.K., Abdel–Hafez, M.F. (2019). On the Tip–Path-Plane Flapping Angles Estimation for Small–Scale Flybarless Helicopters at Near–Hover. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) New Developments and Advances in Robot Control. Studies in Systems, Decision and Control, vol 175. Springer, Singapore. https://doi.org/10.1007/978-981-13-2212-9_16

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