Challenge:
Design a control system to manipulate the pitch
and yaw of a 2 DOF helicopter.
Description:
Two DC motors are mounted at the two ends of a
rectangular frame and drive two propellers. The motors are mounted
at 90 degrees such that one causes pitch and the other causes yaw of
the helicopter. The helicopter frame is free to rotate on a vertical
base equipped with an eight-contact slipring. Electrical signals to
and from the helicopter are channeled through the slipring to eliminate
tangled wires, reduce friction and allow for unlimited and unhindered
yaw. The coupling between the pitch and yaw motor torques results in
a coupled 2 input-2 output system.
The system is supplied with an LQR controller.
You may implement any controller you wish.
Difficulty:
Undergraduate - second course / project / Graduate
/ Research
