nopour / 2dof-helicopter-control

The Quanser 2 DOF Helicopter

2DOF-Helicopter-Control

The Quanser 2 DOF Helicopter experiment, shown in the Figure, consists of a helicopter model mounted on a fixed base with two propellers that are driven by DC motors. The front propeller controls the elevation of the helicopter nose about the pitch axis and the back propeller controls the side to side motions of the helicopter about the yaw axis. The pitch and yaw angles are measured using high-resolution encoders. The pitch encoder and motor signals are transmitted via a slipring. This eliminates the possibility of wires tangling on the yaw axis and allows the yaw angle to rotate freely about 360 degrees.

2DOF-Helicopter-Control

Tip

All simulations (MATLAB/SIMULINK) are provided with the help of M.Mirzaee !

Note

All in Persian, includes

Nonlinear modellling

State-Space Model

Controller design (fullstates feedback, PID, Regulators, and LQR)

Simscape simulations and PIDs

Important

References are also included.

Contact

Send any queries to Reza Nopour ([email protected]).

Animation

PIDs.mp4