Helicopter Model

Helicopter Model

Description of Helicopter Model

The model simulates a helicopter with horizontal and tail rotors to give pitch and yaw control. Sensors measure the yaw and pitch angles. This gives a two-input and two output system, with cross-coupling. Students use the educational manual (supplied) to help identify plant dynamics and create a control system. The control system must keep the helicopter stable and allow for a change in the centre of gravity. When operating near the steady state, the electromechanical system can be linearized to a six-order model.

The equipment includes

1. The model helicopter on a stand
2. An interface unit
3. A data acquisition board for your computer
4. A protective steel cage to put around the helicopter for safety

Experiments

1. Direct derivation of a general mathematical model of a helicopter using Lagrange equations, linearisation and simplification.
2. On-line identification of parameters of a linear model. Direct and indirect (closed-loop response analysis) methods should be used.
3. System decoupling techniques, diagonalisation of system transfer matrix and state space methods.
4. Stabilisation and tracking tasks formulation
5. State feedback design, observer design