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Scaled Helicopter Mathematical Model and Hovering Controller

Scaled Helicopter Mathematical Model and Hovering Controller. Brajtman Michal & Sharabani Yaki Supervisor : Dr. Rotstein Hector. Project Goals. Simulation using Matlab ’ s Simulink. Studying the small scale helicopter ’ s dynamics. Modeling the system. Regulator implementation.

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Scaled Helicopter Mathematical Model and Hovering Controller

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  1. Scaled Helicopter Mathematical Model and Hovering Controller Brajtman Michal & Sharabani Yaki Supervisor : Dr. Rotstein Hector

  2. Project Goals • Simulation using Matlab’s Simulink • Studying the small scale helicopter’s dynamics • Modeling the system • Regulator implementation

  3. Studying the small scale helicopter’s dynamics. A universal model is hard to develop The dynamics of different types ofhelicopters differ

  4. Options for modeling the system • Downscaling from full size helicopters • Identification by measurements • Decoupling

  5. Helicopter’s Components

  6. Yaw, Pitch and Roll

  7. Symmetrical Airfoil

  8. Coning & Flapping

  9. Main Rotor Control

  10. Axes Systems

  11. ( ) + - + = + m u wq vr g sin X T & q X ( ) - + - f q = + v pw ru g sin cos Y T & m Y ( ) + - - f q = + m w pv qu g cos cos Z T & Z I - I + I - I - I = + p r qr ( ) pq L L & & xx xz zz yy xz A T I + I - I + - I = + 2 2 q pr ( ) ( p r ) M M & yy xx zz xz A T I - I + I - I + I = + r p pq ( ) qr N N & & xx xz yy xx xz A T j = + j q + j q p q sin tan r cos tan & & q = j - j q cos r sin y = j + j q ( q sin r cos ) / cos & Dynamics equations

  12. Mathematical model

  13. Simulink implementation

  14. Results – open loop

  15. Closed loop system

  16. Closed loop – after tuning

  17. Conclusions • The system and the controller (linear & nonlinear) were verified • A mathematical model was constructed • A full state feedback LQ controller was designed

  18. THE END

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