Appendix B: Actuator dynamics system identification

Abstract: The ornithopter has on board a Feigao GF2030 brushless motor to drive the flapping motion, and two Hitec HS-56 servo motors to orient the tail. Due to time lags observed in flight, models for the actuator dynamics were identified to determine actuator bandwidths and to enable higher fidelity models of the flight dynamics. This section presents the system identification experiments and modeling results.

Key Words: actuators, dynamic models, system identification

B.1 Experimental setup

The actuators were mounted to a reaction torque sensor for measuring the generated torque. The DC motor was fitted with a shaft encoder for a rotary speed measurement, while the servo motor internal ...

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