TITLE:
Design, Control and Analysis of Low Cost Archetype Dual Rotor Helicopter for Educational Institution
AUTHORS:
A. P. S. Ramalakshmi, P. S. Manoharan
KEYWORDS:
Low Cost Archetype Dual Rotor Helicopter (LCADRH), System Identification, Linear Quadratic Regulator (LQR), Grey Box Model (GBM), Prediction Error Method (PEM)
JOURNAL NAME:
Circuits and Systems,
Vol.7 No.10,
August
29,
2016
ABSTRACT: This paper presents the
design and development of low cost archetype dual rotor helicopter(LCADRH) for academic research in an
educational institution. The LCADRH is installed with optical pitch encoder and
yaw encoder which measure elevation and side to side motion of helicopter. The
objective of the project is to design and integrate the helicopter with data
acquisition board and sensors to provide hardware features, software support
capability for its rapid real time measurement and control. The low cost
designed LCADRH facilitates the academic research for students in the
institution and is able to provide hands on training to understand the concept
of nonlinearity, system modelled and unmodelled dynamics and uncertainty,
modelling, simulation and control bydoing
practical experiments. The mathematical model of the LCADRH is derived using grey
boxmodelling method. The control
of LCADRH is challenging due to its nonlinearity and effect of strong coupling
between aerodynamic forces and torques generated by the both pitch and yaw
actuators. In closed loop position control of LCADRH, pitch and yaw axis motion
is regulated using linear quadratic controller (LQR). Encouraging results are
obtained both in simulation and hardware.