Modelling, Identification and Control of a 2 DOF Helicopter Prototype

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)(2019)

引用 2|浏览0
暂无评分
摘要
In this paper, an alternative for the modeling and control of a helicopter prototype with two degrees of freedom is presented. In order to better understand the dynamics of the real prototype, a mathematical model based on Lagrangian mechanics was established. Due to the non-linearity and open-loop unstability of the prototype, an approximate system was proposed based on a voltage-torque approximation that allows obtaining a non-linear linearizable model. From the linearization of this model, PID, and LQR + I controllers were designed to stabilize the prototype at different points of operation. For the design of these controllers, it was necessary to identify physical parameters and adjust the known ones. The performance of the controllers was estimated by IAE and ISEU indices.
更多
查看译文
关键词
IAE indices,ISEU indices,DOF helicopter prototype,open-loop unstability,Lagrangian mechanics,mathematical model,degrees of freedom,nonlinear linearizable model,voltage-torque approximation,approximate system
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要