scaled helicopter mathematical model and hovering controller

Download Scaled Helicopter Mathematical Model and Hovering Controller

Post on 01-Jan-2016

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Scaled Helicopter Mathematical Model and Hovering Controller. Brajtman Michal & Sharabani Yaki Supervisor : Dr. Rotstein Hector. Project Goals. Simulation using Matlab ’ s Simulink. Studying the small scale helicopter ’ s dynamics. Modeling the system. Regulator implementation. - PowerPoint PPT Presentation

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  • Scaled Helicopter Mathematical Model and Hovering ControllerBrajtman Michal & Sharabani YakiSupervisor : Dr. Rotstein Hector

  • Project GoalsSimulation using Matlabs SimulinkStudying the small scale helicopters dynamicsModeling the system Regulator implementation

  • Studying the small scale helicopters dynamics.

    A universal model is hard to develop

    The dynamics of different types of helicopters differ

  • Options for modeling the systemDownscaling from full size helicoptersIdentification by measurementsDecoupling

  • Helicopters Components

  • Yaw, Pitch and Roll

  • Symmetrical Airfoil

  • Coning & Flapping

  • Main Rotor Control

  • Axes Systems

  • Dynamics equations

  • Mathematical model

  • Simulink implementation

  • Results open loop

  • Closed loop system

  • Closed loop after tuning

  • ConclusionsThe system and the controller (linear & nonlinear) were verifiedA mathematical model was constructedA full state feedback LQ controller was designed

  • THE END

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