QUANSER Flight Control Systems Design. 2DOF Helicopter 3DOF Helicopter 3DOF Hover 3DOF Gyroscope. Quanser Education Solutions Powered by

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1 QUANSER Flight Control Systems Design 2DOF Helicopter 3DOF Helicopter 3DOF Hover 3DOF Gyroscope Quanser Education Solutions Powered by

2 2 DOF Helicopter

3 What does it represent? Classic helicopter with main rotor and tail rotor

4 Challenges Main rotor applies a torque that causes the body to rotate To compensate, need tail rotor

5 Solution Overview Control Software 2 DOF Helicopter Power Amplifier Data Acquisition Device

6 Plant Description Tail Rotor +/ deg Front Rotor Pitch axis encoder 360 deg continuous Slip ring Yaw axis encoder

7 Modeling Main thrust - pitch Moment of inertia about pitch axis Tail thrust - yaw Moment of inertia about yaw axis

8 Modeling Goals Develop simple model that represents dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved

9 Model for Controls Obtain linear state-space representation

10 Control System Signal Flow Controller running here PC USB NI myrio with Quanser TB Control signal VoltPAQ-X2 Amplifier Drive Rotors Quanser 2 DOF Helicopter Read Encoders: Pitch and Yaw angles

11 Control Objective Stabilize helicopter pitch and yaw axes to the commanded pitch and yaw Compensating for helicopter nonlinear, coupled dynamics Controller Quanser 2 DOF Helicopter Desired pitch and yaw Drive Rotors Measure pitch and yaw

12 Main Control Loop Negative feedback loop with control gain K Applies rotor voltage based on desired pitch and yaw commands Measured pitch and yaw Desired pitch and yaw Difference between desired and measured angles Voltage to rotors to meet desired angles

13 Finding Control Gain K Linear Quadratic Regulator (LQR) is an optimization technique to design control gain K Use software tools to run LQR algorithm Model LQR cost function Gain K for state-feedback

14 3 DOF Helicopter

15 What does it represent? A tandem rotor Helicopter such as the Boeing HC-1B Chinook.

16 Solution Overview 3DOF Helicopter Control Software Power Amplifier Data Acquisition Device

17 Plant Description Back Rotor Elevation Encoder Elevation Angle: 63.5 deg Pitch Encoder Pitch Angle: 64 (+/- 32 deg ) Slip ring Counterweight Front Rotor Travel axis encoder Travel 360 deg continuous

18 Modeling Goals Develop simple model that represents dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved

19 Control Objective Stabilize helicopter pitch, Elevation and Travel axes to the commanded pitch and yaw Compensating for helicopter nonlinear, coupled dynamics Desired pitch, Elevation and Travel Controller Drive Rotors Quanser 2 DOF Helicopter Measure pitch, Elevation and Travel

20 Controller running here Control System Signal Flow PC USB Quanser Q8-USB DAQ Control signal VoltPAQ-X2 Amplifier Drive Rotors Quanser 3 DOF Helicopter Readings of Three Encoders: Pitch, Elevation and Travel angles

21 DC Motor 3 DOF Heli With ADS Moving Mass Encoder

22 3 DOF Hover

23 3 DOF Hover Yaw Pitch Roll Main frame mounted on a three degree of freedom pivot joint. Able to rotate on Roll, Pith and Yaw axis Uses two sets of identical propellers: 2 clockwise (CW) and two counterclockwise (CCW)

24 Control Objective Stabilize helicopter pitch, travel and yaw axes to the commanded Angles Compensating for helicopter nonlinear, coupled dynamics Controller Quanser 3 DOF Helicopter Desired pitch, Travel and yaw Drive Rotors Measure Pitch, Travel and Yaw

25 Modeling Goals Develop simple model that represents the dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved

26 3 DOF Gyroscope Three degrees of freedom for the rotor. Rotor, red and blue gimbals and silver frame can be actuated. Digital position Yaw Pitch measurement for each motor. Slip ring for continuous rotation about each axes

27 3 DOF Gyroscope Rectangular, read and blue gimbals can be independently fixed in place. Very low friction on all rotation joints. Ideal Platform for various rotational dynamic studies.

28 Modeling Goals Obtain State-Space representation of the Open-loop system. Design State-feedback for closed loop system using Linear Quadratic Regulator (LQR) optimization. Simulate the system. Implement the model.

29 Control Objective Control the angle of the red gimbal while the angular speed of the disk is maintained for the gyroscopic effect to take place. Controller Quanser 3 DOF Gyroscope Desired Red Gimbal Angle. Drive Rotors Measure Disk, Red Gimbal angles

30 Controller running here Control System Signal Flow PC USB Quanser Q8-USB DAQ Control signal AMPAQ-L4 Amplifier Drive Motors Quanser 3 DOF Gyroscope Readings from four Encoders: Disk, Red gimbal, Blue Gimbal and Silver frame angles

31 Control Software

32 Implementation Install NI LabVIEW and Quanser Rapid Controls Prototyping Toolbox

33 Complete set of Help Documents and Examples

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35 Thanks!!