| The Wind Driven Dynamic Model Manipulator is a device for performing dynamic aircraft testing, using scale models, in a wind tunnel. This manipulator utilizes the kinetic energy available in the wind tunnel freestream to produce motion. The test model is mounted at one end of an arm, and aerodynamic surfaces at the other end of the arm are adjusted to control the motion. This research addresses two primary problems. The first is to develop and experimentally test a full-range nonlinear motion controller for the manipulator which is robust to uncertainty in the test model aerodynamics. The second problem is to experimentally identify parameters in the mathematical model which governs the dynamics of the manipulator. From the dynamic model parameters, it is possible to extract some of the aerodynamic properties of the test model. To address the two primary problems, it is necessary to develop and verify mathematical models for single and multiple degree of freedom manipulators.;In this thesis, models for single and multiple degree of freedom manipulators are derived. Nonlinear robust and adaptive controllers are described and an experimental evaluation of both types is described. A technique for measuring longitudinal stability parameters for aircraft in the wind tunnel is presented. Experimental results are used to evaluate the accuracy of the parameter measurement method. |
