Statistical modeling angular dynamics for model-scale helicopter

In this paper, the procedure and results of modeling angular dynamics of a miniature helicopter in hover is presented using both mechanism reasoning and information from flight test data. The goal is to derive an angular dynamical model that is simple and sufficient accurate to be used for advance flight control. The initial model structure is derived from mechanism reasoning based on a strong simplifying assumption. Afterwards, backward stepwise regression is carried out to refine the model structure and estimate the coefficients. The accuracy of the developed model is examined by comprehensive comparison between model response and experimental data. If the tests fail to validate the model's reliability, a less restrictive assumption would be proposed according to the analysis of the test result and the whole modeling procedure would be carried out again until a satisfactory model is derived. This systematic procedure is proved to be effective in modeling MUH's angular dynamics.