This paper deals with the modeling and control of a three-degrees-of freedom helicopter laboratory experiment. The helicopter belongs to the class of mechanical systems underactuated by one control. The mathematical model is derived using the Lagrange formalism in combination with the concept of twists and wrenches. It can be proven that the full system is not configuration .at. Nevertheless, by a slight modification of the generalized forces, which can also be interpreted in terms of a constructive change in the experimental set-up, we are able to design a flatness based controller. Experimental results demonstrate the effectiveness of the proposed concept. The control concept is implemented in a real-time environment of dSPACE. The sampling time is chosen sufficiently small (1 ms) in order to ensure a quasi time-continuous operation of the controller. The reference trajectories are generated by using Gevrey functions, see, e.g., (Rudolph, 2003). The measurement results depicted in Fig. 3 show the reference tracking behavior of the travel angle while the elevation angle is kept at a constant value. Fig. 4 presents the measured response to a reference command of the elevation angle holding the travel angle at a constant value. In conclusion we may say that the flatness-based controller presented in this paper proves to be very efficient in terms of tracking arbitrary flight trajectories within the possible operating range of the laboratory helicopter, see also the videos on our web page http://www.lsr.unisaarland.de/heli.html.
Modeling and flatness-based control of a 3DOF helicopter laboratory experiment
Modellbildung und flachheitsbasierte Regelung eines Laborversuchs mit einem Hubschrauber mit drei Freiheitsgraden
2004
12 Seiten
Conference paper
Storage medium
English
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