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1630_lab1

# 1630_lab1 - MASSACHUSETTS INSTITUTE OF TECHNOLOGY...

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MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Aeronautics and Astronautics 16.30: Estimation and Control of Aerospace Systems Spring 2004 Lab 1: Elevation Dynamics and Control Due: 03/15/2004 Objective The objectives of this lab are: 1. To use a collective motor voltage to experimentally determine the plant transfer function for the elevation axis of the Quanser from both step response and frequency response characteristics. 2. To design a controller for the elevation axis which achieves bandwidth of about 3 rad/sec and phase margin of at least 45 with no steady state error. 3. To implement the controller and compare its performance to that of the open loop system in terms of step response characteristics and disturbance rejection. Administrative The machines are located in the lab . The lab is open 9am-5pm weekdays. There will be a TA available for you on Monday 3-5pm downstairs in the lab to answer any questions. You can do this lab individually or with one partner. Introduction Quanser helicopter is a mechanical device that essentially emulates the ﬂight of a reduced degree of freedom (DOF) helicopter. Instead of the usual six DOF of a free-ﬂying helicopter, the Quanser only exhibits three: the roll/pitch motion φ , the elevation motion θ , and the travel motion ψ . The Quanser system is actuated by two rotors and the inputs to the system are V cyc , which is an electric voltage that results in differential change in the two rotor speeds, and V col , which is an electric voltage that controls the speed of the two propellers collectively. The outputs of the system are the three angles: the pitch φ , the elevation θ , and the travel ψ . For this lab, you are going to be working with the elevation mode. Please keep the limits of the system in mind, in particular, the voltage is limited to [ 5 , 5] Volts, pitch motion should be limited to [

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