tailieunhanh - Mechatronic Systems, Simulation, Modeling and Control 2012 Part 6

Tham khảo tài liệu 'mechatronic systems, simulation, modeling and control 2012 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 174 Mechatronic Systems Simulation Modelling and Control In general the goal of the design of a helicopter model control system is to provide decoupling . each output should be independently controlled by a single input and to provide desired output transients under assumption of incomplete information about varying parameters of the plant and unknown external disturbances. In addition we require that transient processes have desired dynamic properties and are mutually independent. The paper is part of a continuing effort of analytical and experimental studies on aircraft control Czyba Blachuta 2003 and BLDC motor control Szafranski Czyba 2008 . The main aim of this research effort is to examine the effectiveness of a designed control system for real physical plant - laboratory model of the helicopter. The paper is organized as follows. First a mathematical description of the helicopter model is introduced. Section 3 includes a background of the discussed method and the method itself are summarized. The next section contains the design of the controller and finally the results of experiments are shown. The conclusions are briefly discussed in the last section. 2. Helicopter model The CE150 helicopter model was designed by Humusoft for the theoretical study and practical investigation of basic and advanced control engineering principles. The helicopter model consists of a body carrying two propellers driven by DC motors and massive support. The body has two degrees of freedom. The axes of the body rotation are perpendicular as well as the axes of the motors. Both body position angles . azimuth angle in horizontal and elevation angle in vertical plane are influenced by the rotating propellers simultaneously. The DC motors for driving propellers are controlled proportionally to the output signals of the computer. The helicopter model is a multivariable dynamical system with two manipulated inputs and two measured outputs. The system is essentially .