Design, Control and Analysis of Low Cost Archetype Dual Rotor Helicopter for Educational Institution

摘要

This paper presents the design and development of low cost archetype dual rotor helicopter?(LCADRH) for academic research in an educational institution. The LCADRH is installed with optical pitch encoder and yaw encoder which measure elevation and side to side motion of helicopter. The objective of the project is to design and integrate the helicopter with data acquisition board and sensors to provide hardware features, software support capability for its rapid real time measurement and control. The low cost designed LCADRH facilitates the academic research for students in the institution and is able to provide hands on training to understand the concept of nonlinearity, system modelled and unmodelled dynamics and uncertainty, modelling, simulation and control by?doing practical experiments. The mathematical model of the LCADRH is derived using grey box?modelling method. The control of LCADRH is challenging due to its nonlinearity and effect of strong coupling between aerodynamic forces and torques generated by the both pitch and yaw actuators. In closed loop position control of LCADRH, pitch and yaw axis motion is regulated using linear quadratic controller (LQR). Encouraging results are obtained both in simulation and hardware.