2. Scaled Helicopter Mathematical Model and Hovering Controller Brajtman Michal & Sharabani Yaki Supervisor : Dr. Rotstein Hector

3. Project Goals  Simulation using Matlab ’ s Simulink  Studying the small scale helicopter ’ s dynamics  Modeling the system  Regulator implementation

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

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

6. Helicopter’s Components

7. Yaw, Pitch and Roll

8. Symmetrical Airfoil

9. Coning & Flapping

10. Main Rotor Control

11. Axes Systems

12. Dynamics equations

13. Mathematical model

14. Simulink implementation

15. Results – open loop

16. Closed loop system

17. Closed loop – after tuning

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

19. THE END