1. QUANSER Flight Control Systems Design 2DOF Helicopter 3DOF Helicopter 3DOF Hover 3DOF Gyroscope
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2. 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.

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

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

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

6. 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

7. 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.

8. 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.

9. Model for Controls Obtain linear state-space representation

10. 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

11. 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

12. 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

13. 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

14. 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.

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

16. 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

17. 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

18. 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.

19. 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

20. 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

21. 3 DOF Heli With ADS
DC Motor
Moving Mass
Encoder

22. 3 DOF Hover

23. 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

24. 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

25. 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.

26. 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

27. 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.

28. 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.

29. 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

30. 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

31. Control Software

32. Implementation
Install NI LabVIEW and Quanser Rapid Controls Prototyping Toolbox

33. Complete set of Help Documents and Examples

34. Visit us at: www.quanser.com

35. Thanks!!