Hovering Dual-Spin Vehicle Groundwork for Bias Momentum Sizing Validation Experiment

Angular bias momentum offers significant stability augmentation for hovering flight vehicles. The reliance of the vehicle on thrust vectoring for agility and disturbance rejection is greatly reduced with significant levels of stored angular momentum in the system. A methodical procedure for bias momentum sizing has been developed in previous studies. This current study provides groundwork for experimental validation of that method using an experimental vehicle called the Dual-Spin Test Device, a thrust-levitated platform. Using measured data the vehicle's thrust vectoring units are modeled and a gust environment is designed and characterized. Control design is discussed. Preliminary experimental results of the vehicle constrained to three rotational degrees of freedom are compared to simulation for a case containing no bias momentum to validate the simulation. A simulation of a bias momentum dominant case is presented.