helicopter modeling - A ALBORG U NIVERSITY Department of...

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Unformatted text preview: A ALBORG U NIVERSITY Department of Control Engineering Fredrik Bajers Vej 7 - 9220 Aalborg Øst - Telephone 96 35 80 80 TITLE: Autonomous Helicopter – Modelling and Control PROJECT PERIOD: February 1st - May 30rd 2005 THEME: Modelling and Control PROJECT GROUP: 835 GROUP MEMBERS: Ulrik B. Hald Mikkel V. Hesselbaek Jacob T. Holmgaard Christian S. Jensen Stefan L. Jakobsen Martin Siegumfeldt SUPERVISOR: Anders la Cour-Harbo Jesper Sandberg Thomsen NUMBERS PRINTED: 10 REPORT PAGE NUMBER: 110 TOTAL PAGE NUMBER: 162 SYNOPSIS: This project concerns the problem of mod- elling an autonomous model helicopter and hereafter stabilizing the model in a hover ma- noeuvre using optimal control. First a non-linear minimum-complexity helicopter simulation math model has been developed, this model is hereafter linearized to derive a linear model. By use of this linear model, a controller based on optimal control has been designed. The designed controller was then tested on the non-linear model to examine the robustness of the controller to initial state disturbances on the translatory velocities and the attitude. It was possible to stabilize the non-linear system in a hover manoeuvre under the effect of these disturbances. However, any general conclusions regarding the controller’s ability to stabilize a real model helicopter can not be made. Preface This project is made by group 835 at the Department of Control Engineering, Aalborg Uni- versity, in the period between February 1st 2005 and May 30th 2005. The theme for this 8th semester project is ”Modelling and Control” under which the project ”Autonomous Heli- copter: modelling and control” has been chosen. The report consists of four parts: ”Pre-Analysis” , ”Modelling” , ”Linearization and Control” and ”Conclusion and Perspective” . The four parts all begin with an introduction and consist of several chapters each containing a description of the contents and, if necessary, a short summary. Supplementary subjects are placed in appendices in the back of the report and are numbered A, B and so forth. A list of nomenclature is included just before the introduction. In this nomenclature the variables, constants and abbreviations used in the project are listed. Enclosed on the inside of the back page is the project CD, containing M ATLAB code, S IMULINK models, M APLE sheets, animations of simulations, pdf copy of report etc. Reading Instructions To help guide the reader through the report a reading guide is presented. A variable X f X g (1) can be a Latin as well as a Greek letter, both upper-case and lower-case. In front of the variable a lower-case Latin superscript ( f · ) might be added, which indicates the frame in which the variable is stated. The following subscript ( · g ) is a general subscript related to the variable X (see the examples in Figure 1)....
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helicopter modeling - A ALBORG U NIVERSITY Department of...

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