Abstract
The helicopter is a highly unstable nonlinear non-minimum phase multiple-input multiple-output (MIMO) system with strong coupling between degrees of freedom. Therefore, its modeling will cause many problems such as control complexity. In addition, hover and forward flight modes are one of the most widely used helicopter flight modes used in many operations. To achieve and stay in these situations, you need very precise settings and timely manual control of the bird. This paper seeks to provide an L1 adaptive-hybrid control method to solve helicopter control problems in the Koppler system. In this regard, three channels in the coupler system are considered for the design of this controller. The proposed controller also proves the stability of the system during switching between channels. The helicopter that is modeled in this research and its data is used to implement and simulate the Coupler system control is the SA330 Puma helicopter, which is a medium-sized twin-engine support helicopter, in the category of 6 tons, built by Eurocopter France (ECF), and is in service several domestic operators and the armed forces, including the British Air Force. This device is a completely unstable dynamic system. In addition to the inherent instability of this bird, by adding an external load hanging to this system, the challenge of controlling this system is doubled hence, it is necessary to maintain its stability by using a suitable control system. In the meantime, the modeling of the hanging load should be done in three dimensions and two planes, and like most of the work done, only the movement of the plane should not be considered. For this purpose, an L1 adaptive-hybrid control method is proposed and fully developed in the paper, then it is properly designed for the Coupler system, which contains three channels: Pitch, Roll, and Collective, taking into account the load hanging on the helicopter. Finally, by simulating the results, it can be seen that the main goals, even in the presence of various disturbances, have the desired, efficient, and very good performance.
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