QUANSER Flight Control Systems Design 2DOF Helicopter 3DOF Helicopter 3DOF Hover 3DOF Gyroscope Quanser Education Solutions Powered by

2 DOF Helicopter Dual-axis bench-top helicopter emulates classic system with a main rotor and a tail rotor. Helicopter system with motions about the pitch and yaw axes. Full control via PC and data acquisition system on various software platforms.

What does it represent? Classic helicopter with main rotor and tail rotor

Challenges Main rotor applies a torque that causes the body to rotate To compensate, need tail rotor Image taken from en.wikibooks.org

Data Acquisition Device Solution Overview 2 DOF Helicopter Control Software Power Amplifier Data Acquisition Device

Plant Description Tail Rotor +/- 37.5 deg Front Rotor Pitch axis encoder The angles about the pitch and yaw axes’ are measured using the high-resolution encoders. The system is free to rotate about the yaw through the slip ring mechanism – cable free. 2x rotors Rotates about yaw and pitch axes Slip-ring - free to rotate 360° about yaw 2x encoders Slip ring 360 deg continuous Yaw axis encoder

Modeling Main thrust - pitch Moment of inertia about pitch axis Tail thrust - yaw Moment of inertia about yaw axis Modeling and system identification of the helicopter is research on it’s own. The model supplied with our system is adequate enough to develop a state-feedback based controller. It’s designed from first-principles, but we do utilize some of the nonlinear pitch force interactions for the feed-forward control.

Modeling Goals Develop simple model that represents dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved Modeling and system identification of the helicopter is research on it’s own. The model supplied with our system is adequate enough to develop a state-feedback based controller. It’s designed from first-principles, but we do utilize some of the nonlinear pitch force interactions for the feed-forward control.

Model for Controls Obtain linear state-space representation

Control System – Signal Flow Controller running here Quanser 2 DOF Helicopter PC NI myRIO with Quanser TB VoltPAQ-X2 Amplifier Control signal Drive Rotors USB Controller is running on the PC – the myRIO + Quanser TB and VoltPAQ-X1 are NOT controllers! – common misconception first time they view this Connect the following: 2DOF Heli, NI myRIO or CRIO with Quanser two Q1 modules or Quanser Q2-USB DAQ, VoltPAQ-X2 power amplifier Read Encoders: Pitch and Yaw angles

Control Objective Stabilize helicopter pitch and yaw axes to the commanded pitch and yaw Compensating for helicopter nonlinear, coupled dynamics Quanser 2 DOF Helicopter Controller Drive Rotors Desired pitch and yaw Measure pitch and yaw

Main Control Loop Negative feedback loop with control gain K Applies rotor voltage based on desired pitch and yaw commands Measured pitch and yaw Desired pitch and yaw Difference between desired and measured angles Voltage to rotors to meet desired angles

Finding Control Gain K Linear Quadratic Regulator (LQR) is an optimization technique to design control gain K Use software tools to run LQR algorithm LabVIEW offers software tools that use LQR optimization to reduce the cost function J. It does this by calculating the gain K. Model Gain K for state-feedback LQR cost function

3 DOF Helicopter Dual-axis bench-top helicopter emulates classic system with a main rotor and a tail rotor. Helicopter system with motions about the pitch and yaw axes. Full control via PC and data acquisition system on various software platforms.

What does it represent? A tandem rotor Helicopter such as the Boeing HC-1B Chinook.

Data Acquisition Device Solution Overview 3DOF Helicopter Control Software Power Amplifier Typical configuration is: Two-channel USB-based data acquisition device – NI myRIO + Quanser Terminal or cRIO with 2x Q1 modules. Linear, two-channel voltage-based power amplifier: Quanser VoltPAQ-X2 LabVIEW + RCP software Data Acquisition Device

Plant Description Back Rotor Elevation Encoder Pitch Encoder Elevation Angle: 63.5 deg Pitch Angle: 64 (+/- 32 deg ) Slip ring Front Rotor Counterweight The angles about the pitch and yaw axes’ are measured using the high-resolution encoders. The system is free to rotate about the yaw through the slip ring mechanism – cable free. 2x rotors (Front and Back) Rotates about yaw and pitch axes Slip-ring - free to rotate 360° about yaw 3x encoders Travel 360 deg continuous Travel axis encoder

Modeling Goals Develop simple model that represents dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved Modeling and system identification of the helicopter is research on it’s own. The model supplied with our system is adequate enough to develop a state-feedback based controller. It’s designed from first-principles, but we do utilize some of the nonlinear pitch force interactions for the feed-forward control.

Control Objective Stabilize helicopter pitch, Elevation and Travel axes to the commanded pitch and yaw Compensating for helicopter nonlinear, coupled dynamics Controller Quanser 2 DOF Helicopter Drive Rotors Desired pitch, Elevation and Travel Measure pitch, Elevation and Travel

Control System – Signal Flow Controller running here Quanser 3 DOF Helicopter PC Quanser Q8-USB DAQ VoltPAQ-X2 Amplifier Control signal USB Drive Rotors Readings of Three Encoders: Pitch, Elevation and Travel angles

3 DOF Heli With ADS DC Motor Moving Mass Encoder

3 DOF Hover

3 DOF Hover Main frame mounted on a three degree of freedom pivot joint. Able to rotate on Roll, Pith and Yaw axis Uses two sets of identical propellers: 2 clockwise (CW) and two counter-clockwise (CCW) Roll Pitch Yaw

Control Objective Stabilize helicopter pitch, travel and yaw axes to the commanded Angles Compensating for helicopter nonlinear, coupled dynamics Quanser 3 DOF Helicopter Controller Desired pitch, Travel and yaw Drive Rotors Measure Pitch, Travel and Yaw

Modeling Goals Develop simple model that represents the dynamics of system sufficiently to develop a control system Accurate modeling can become fairly involved Modeling and system identification of the helicopter is research on it’s own. The model supplied with our system is adequate enough to develop a state-feedback based controller. It’s designed from first-principles, but we do utilize some of the nonlinear pitch force interactions for the feed-forward control.

3 DOF Gyroscope Three degrees of freedom for the rotor. Rotor, red and blue gimbals and silver frame can be actuated. Digital position measurement for each motor. Slip ring for continuous rotation about each axes Pitch Yaw

3 DOF Gyroscope Rectangular, read and blue gimbals can be independently fixed in place. Very low friction on all rotation joints. Ideal Platform for various rotational dynamic studies.

Modeling Goals Obtain State-Space representation of the Open-loop system. Design State-feedback for closed loop system using Linear Quadratic Regulator (LQR) optimization. Simulate the system. Implement the model.

Control Objective Control the angle of the red gimbal while the angular speed of the disk is maintained for the gyroscopic effect to take place. Quanser 3 DOF Gyroscope Controller Desired Red Gimbal Angle. Drive Rotors Measure Disk, Red Gimbal angles

Control System – Signal Flow Controller running here Quanser 3 DOF Gyroscope PC Quanser Q8-USB DAQ AMPAQ-L4 Amplifier Control signal USB Drive Motors Controller is running on the PC – the Q8-USB or NI cRIO and AMPAQ are NOT controllers! – common misconception first time they view this Readings from four Encoders: Disk, Red gimbal, Blue Gimbal and Silver frame angles

Control Software

Implementation Install NI LabVIEW and Quanser Rapid Controls Prototyping Toolbox http://www.quanser.com/Products/rcptk

Complete set of Help Documents and Examples

Visit us at: www.quanser.com http://www.quanser.com/Products/3dof_helicopter http://www.quanser.com/Products/2dof_helicopter http://www.quanser.com/Products/3dof_gyroscope http://www.quanser.com/Products/3dof_hover http://www.quanser.com/Products/rcptk

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