Optimized Measurements of UAV Mass Moment of Inertia with a Bifilar Pendulum

A bifilar (two-wire) pendulum is a torsional pendulum consisting of a test object suspended by two thin parallel wires. The pendulum oscillates about the vertical axis. The restoring torque of the bifilar pendulum is provided by the gravitational force as rotations from the rest state cause the test object to raise slightly. The mass moment of inertia is computed using dynamic modeling, measurements of the oscillation period, and the physical dimensions of the bifilar pendulum such as the length and separation displacement of the pendulum wires. A simulation technique is described that improves estimates of the mass moment of inertia by considering the nonlinear effects of damping and large angular displacements. An analysis of the error variance of mass moment of inertia measurements is also described. The resulting expression for the error variance is used to optimize the physical parameters of the bifilar pendulum to obtain the moment of inertia measurement with the minimum error variance. Monte Carlo simulations were used to validate the parameter optimization technique. Experimental results are presented for a uniform-density test object for which the moment of inertia is straightforward to compute from geometric considerations. Results are also presented for a small unmanned air vehicle, which was the intended application for this moment of inertia measurement technique.