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Midterm review

Midterm review. 2E1242 – Automatic Control Helicopter Project. Introduction. The Helicopter team: David Höök Pontus Olsson Henric Jöngren Vivek Sharma Ksenija Orlovskaya. Resources. Helicopter with two degrees of freedom (Humusoft)

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Midterm review

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  1. Midterm review 2E1242 – Automatic Control Helicopter Project

  2. Introduction The Helicopter team: • David Höök • Pontus Olsson • Henric Jöngren • Vivek Sharma • Ksenija Orlovskaya

  3. Resources • Helicopter with two degrees of freedom (Humusoft) • Input voltage to two DC motors driving the main and tail propellers (MIMO-system) • Output horisontal and vertical angles • Labview (communicating with process) • Matlab (simulation, model validation)

  4. Main objective • The helicopter is supposed to: • Follow a prespecified trajectory that illustrates its performance limitations. • Attenuate external disturbances

  5. Modelling Subsystems • Main motor and vertical movement • Tail motor and horisontal movement • Two systems corresponding to the cross coupling between the movements

  6. Mathematical modelling of the helicopter Tupp Subsystem #1 Main motor and vertical movement • Order of transfer function • Matlab identification toolbox ==> g11 and g12 Vertical angle Tgyro Ttail Tf Tmg

  7. Mathematical modelling of the helicopter Tmain Tgyro Subsystem #2 Tail motor and horisontal movement • Order of transfer function • Matlab identification toolbox ==> g22 and g21 Horisontal angle Thorizontal Tf

  8. Step response, real and simulated system

  9. Transfer function matrix • Decoupling: minimizing effect of g12 and g21 in system

  10. Step response, model

  11. Decoupling, approach 1 A simpler method to reduce the cross coupling, • Neglect influence from tail motor in elevation. • Find required u to tail motor to compensate torque from main propeller at different main rotor velocities. • Efficient in the static case, has to be enhanced to also reduce cross coupling when accelerating/decelerating main propeller because of the extra torque from rotational intertia.

  12. U2(u1)

  13. Decoupling matrix, approach 2

  14. Decoupling, new system - decoupled • The cross coupling has been eliminated • Strange behaviour of outsignals

  15. Future work • Enhance model • Model corresponding to actual process • Use model for control deriving • Design optimal controllers for different regions • transfer functions for different angle segments • Find smooth transition between the segments

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