Simulation For Helicopter Control System Using LQR Controller

Ahmad Zul Fadzli, Mansor Taridi (2009) Simulation For Helicopter Control System Using LQR Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

	PDF (24 pages) Simulation_For_Helicopter_Control_System_Using_LQR_Controller_-_24_pages.pdf - Submitted Version Download (279kB)
	PDF (Full Text) Simulation_For_Helicopter_Control_System_Using_LQR_Controller.pdf - Submitted Version Restricted to Registered users only Download (7MB)

Abstract

This project will present detailed procedure on how to construct a basic mathematical model that represents general longitudinal helicopter flight dynamics. The establishment of global helicopter linear model is very precious and useful for the design of the linear control laws, since it is never afforded in the published literatures. In the first principle approach, the mathematical model was developed using basic helicopter theory accounting for particular characteristic of the miniature helicopter. The system presents a step by step development of linear model for small scale helicopter based on first-principle approach. The procedure will start from linearizing the translational and rotational dynamics and rotational kinematics equations of motion using the small perturbation theory. There are certain assumptions made for the sake of simplifications. The next step is to construct the fundamental linearized form for describing the stability and response of a small motion of a helicopter around a trim condition. Beyond the previous work, the calculation of the stability derivatives is presented in detail. A computer program is used to solve the equilibrium conditions and then calculate the change in aerodynamics forces and torque due to the change in each degree of freedom and control input. The detail derivation allows the comprehensive analysis of relative dominance of helicopter states and input variables to force and torque components. Hence it facilitates the development of minimum complexity small scale helicopter dynamics model.

Actions (login required)

View Item