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Simulation of the 2-dof Helicopter

Simulation of the 2-dof Helicopter. Maryam Alizadeh May 25 th 2011. Contents:. Why the simulation is needed? How is it implemented? More details about blocks Future works. Why the simulation is needed?. Testing different approaches to find the best solution is necessary.

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Simulation of the 2-dof Helicopter

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  1. Simulation of the 2-dof Helicopter MaryamAlizadeh May 25th 2011

  2. Contents: • Why the simulation is needed? • How is it implemented? • More details about blocks • Future works

  3. Why the simulation is needed? Testing different approaches to find the best solution is necessary. Advantages of simulation: • Decreasing the numbers of test with the real system • Time and Cost effectiveness

  4. How is it implemented?

  5. Real System Block Diagram Ball position in the Image << Θinc,Ψinc Image Processing Angles Calculation LQR Controller Voltages Model Helicopter & Attached Camera New Image and information

  6. Challenges • Dealing with different coordinate systems Camera frame and World Frame • Multi-rates blocks (1 ms for controller part and 100 ms for image processing part) The solution is rate transition blocks

  7. Simulation block Diagram Camera Projection Model Θinc,Ψinc Xp , Yp Helicopter Model Plant Controller Ball Position in World Frame Desired Point (120,160) Helicopter & Camera position

  8. More Details About Blocks

  9. Camera Projection Model Camera Projection Model Θinc,Ψinc Xp , Yp Helicopter Model Plant Controller Ball Position in World Frame Desired Point (120,160) Helicopter & Camera position

  10. Camera Projection Model ΘΨ Xp , Yp Ball position in the image

  11. Helicopter Model Camera Projection Model Θinc,Ψinc Xp , Yp Helicopter Model Plant Controller Ball Position in World Frame Desired Point (120,160) Helicopter & Camera position

  12. Helicopter Model M ECG Modeling Helicopter Model PD Controller Quintic Polynomial Trajectory Planning

  13. Helicopter Model Θinc,Ψinc Xp , Yp Ball position in the image

  14. Controller & Plant Camera Projection Model Θinc,Ψinc Xp , Yp Helicopter Model Plant Controller Camera Projection Model Ball Position in World Frame Desired Point (120,160) Helicopter & Camera position

  15. Controller & Plant Θinc,Ψinc

  16. Future work • Working on the other parts of Helicopter model (PD Controller & Trajectory Planning) • Modification in Projection Model to get the best results

  17. Thank you for your attention ?

  18. The only part which is in common with real model is LQR Controller, so we need to model them in simulation • In this regard we need a coordinate system which be able to define ball position either in world or regarding to camera position • In simulation, we just know the initia; position of the ball

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