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 by doing practical experiments. The mathematical model of the LCADRH is derived using grey box modelling 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.
Highlights
Earlier some research was done on helicopter and its control in foreign countries [1]-[4]
The linear quadratic controller (LQR) closed loop position control of low cost archetype dual rotor helicopter (LCADRH) is done under four cases to analyze the coupling effect that exists between the pitch and yaw actuators
In case III, the elevation of LCADRH is raised by setting pitch angle to square input with the amplitude of 5 degree and frequency of 0.05 Hz whereas the yaw angle is constant at 0 degree
Summary
Earlier some research was done on helicopter and its control in foreign countries [1]-[4]. S. Manoharan model is very high where developing countries could not afford. To encourage the research on control system in academic institution in developing countries, LCADRH is designed and developed for the students. The system identification of nonlinear system like helicopter plays a major role for its precise control subject to system dynamics and uncertainty [8]-[10]. Research work is carried out on grey box system identification for model helicopter in [11]. The small scale unmanned rotorcraft system is modeled using system identification for the flight control in [12]. LQR controller design for helicopter control was done in 2-DOF [16] [17]. Nonlinear control of 2-DOF helicopter research is carried out in [18]-[20]
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