Open-loop data is taken to indicate the flight characteristics of the MAV. Specifi-

cally, the roll and yaw rates and accelerations about a body fixed axis are measured in

response to doublets commanded separately to the servos. Several sets of doublets are

commanded ranging in magnitude and duration to obtain a diverse set of flight data.

 The dynamics of the MAV in response to rudder commands is investigated to

indicate the performance of the traditional configuration for this MAV. A representative

doublet command is shown in Figure 5-4. The roll rate and yaw rate measured in

response to this command are shown in Figure 5-5. The roll rate is large and indicates

the rudder is able to provide lateral-directional authority; however, the yaw rate is

clearly larger than the minimal amount which can be expected. Actually, the yaw rate

is close in magnitude to the roll rate so the lateral-directional dynamics are very tightly

coupled. The effect of the rudder in exciting the dutch roll dynamics is clearly seen in

this response.

 15






 15150[--------- 150---------
 10

 25






 0 1 2 3 4 5 6
 Time(sec)
 Figure 5-4: Doublet Command to Rudder Servo





 -50 -50







 Tlme(sec) Time(sec)
 Figure 55: Response to Rudder Doublet for Roll Rate(left) and Yaw Rate(right)