The scope of this report is the development of a mathematical model and a control system for a three degrees of freedom (3DOF) helicopter rig. This 3DOF-system offers a good simplification of a real world tandem helicopter for evaluating performanceof different automatic control principles. A mathematical model of the system is developed using free-body diagrams. This mathematical model is then linearized and a controller is developed by decoupling the system. Due to model imperfections external disturbances and similar effects integral action is added as well as feed-forward compensation to reduce nonlinear effects. After the controller has been decoupled the two different controllers are tuned. The Linear-Quadratic Regulator, described in section 3.6, is used for selectingstate-feedback gains. Due to the highly nonlinear nature of the system an Extended Kalman Filter is developed to estimate unmeasurable states. The model and controller is then implemented on the actual rig and evaluated. The results displayed that the elevation controller had good performance. The travel controller also showed good performance but not as good as the elevation controller. The main goal of this thesis was to develop a controller for the 3DOF helicopter system. The results clearly show that an LQR-controller is able to successfully control a system like this with decent performance characteristics despite the highly nonlinear system.


    Access

    Download


    Export, share and cite



    Title :

    Modelling & Control of a 3DOF Helicopter


    Contributors:

    Publication date :

    2015-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Aggressive Landing Maneuvers for 3DOF Helicopter UAV

    Bayraktar, Selcuk / Feron, Eric | AIAA | 2006


    Modeling and flatness-based control of a 3DOF helicopter laboratory experiment

    Kiefer, Thomas / Kugi, Andreas / Kemmetmüller, Wolfgang | Tema Archive | 2004


    AIAA-2006-6682 Aggressive Landing Maneuvers for 3DOF Helicopter UAV

    Bayraktar, S. / Feron, E. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2006



    Robust Output Tracking of a 3DOF Helicopter via High-Order Sliding Mode Observers

    de Loza, Alejandra Ferreira / Cieslak, Jérome / Henry, David et al. | Springer Verlag | 2015