System Identification and Handling Qualities Predictions of an eVTOL Urban Air Mobility Aircraft Using Modern Flight Control Methods

Modern system identification techniques were used to identify a linear model based on a nonlinear simulation of a
concept Urban Air Mobility quadcopter, and compared to a perturbation-based model. These models were used to
develop feedback controllers for both variable-pitch and variable-RPM variants of the quadcopter, with the handling
qualities requirements determining current requirements for the electric motors. To have sufficient stability margins
and bandwidth, the motor time constant for the variable-RPM system must be no greater than 0.122s. Both variable-
RPM and variable-pitch systems were limited by the yaw axis, which relies on differential motor torque for control.
The introduction of rotor cant alleviated this problem for the variable-pitch vehicle, allowing a 47% reduction in motor
weight, relative to the uncanted variable-pitch system.