1. SIMULATION OF 2-DOF HELICOPTER RESULTS Maryam Alizadeh June 29 th 2011 1

2. Contents:  Introduction  Modifications  Comparison  ECG Mode  PD Controller Mode  Changing ECG in PD Controller Mode  Sampling Rate of camera 2

3. Simulation block Diagram 3 Controller Camera Projection Model Helicopter Model Helicopter & Camera position Desired Point (120,160) Plant Ball Position in World Frame X p, Y p Θ inc, Ψ inc

4. Simulink Block diagram 4

5. Modifications  Real-time processing  Different sampling time for blocks  Changing camera position  ECG Mode and PD Controller parts of helicopter model 5

6. Comparison Real and Simulation Test Results  Tests:  ECG mode  PD Controller  Changing ECG in PD controller mode  Changing Sampling rate of camera 6

7. ECG Mode Comparison 7 Pole trajectory by changing ECG from 0.01 to 0.1 (Experimental Tests) By increasing ECG, Poles are getting closer to imaginary axis The smaller ECG, The more stable system

8. 8 Pole trajectory by changing ECG from 0.01 to 0.1 (simulation Tests) By increasing ECG, Poles are getting closer to imaginary axis The simulation test results show the simulated system is more stable than real one but both have the same direction

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10. PD Controller Mode Comparison 10 Pole trajectory by changing Kd from 0.01 to 0.1 (Experimental Tests) By increasing Kd, Poles are getting further to imaginary axis The larger Kd, The more stable system

11. 11 Pole trajectory by changing Kd from 0.01 to 0.1 (Simulation Tests) By increasing Kd, system is getting more stable The larger Kd, The more stable system

12. Changing ECG in PD Mode, Kd=0.05 12 Pole trajectory by changing ECG from 0.01 to 0.1 while Kd=0.05 (Experimental Tests) By increasing ECG, Poles are getting Closer to imaginary axis The smaller ECG, The more stable system

13. 13 Pole trajectory by changing ECG from 0.01 to 0.1 while Kd=0.05 (Simulation Tests) By increasing ECG, Poles are getting Closer to imaginary axis The smaller ECG, The more stable system

14. Sampling Rate of Camera 14 Pole trajectory by changing Sampling rate of camera from 2 to 30 frames per second (Experimental Tests) Changing sampling rate dose not have specific effect on pole trajectory

15. 15 Pole trajectory by changing Sampling rate of camera from 2 to 30 frames per second (Simulation Tests) Changing sampling rate dose not have the same effect as experimental results

16. Thank you for your attention 16 ?