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

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

Options for modeling the system  Downscaling from full size helicopters  Identification by measurements  Decoupling

Helicopter’s Components

Yaw, Pitch and Roll

Symmetrical Airfoil

Coning & Flapping

Main Rotor Control

Axes Systems

Dynamics equations

Mathematical model

Simulink implementation

Results – open loop

Closed loop system

Closed loop – after tuning

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

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