USE OF A RIGOROUS MODEL IN THE CONTROL DESIGN OF A 3-D.O.F. HELICOPTER

Arthur Castello Branco de Oliveira¹; Bruno Augusto Angélico¹

¹ Escola Politécnica da USP

Baixar PDF doi:10.20906/CPS/CBA2018-0372

Resumo

In this paper it is studied the effect of using a linearized model based on a rigorous non-linear mechanical model on the design of a LQR control for a 3-d.o.f. Helicopter. It is presented a simpler model and one obtained with the Newton-Euler iterative algorithm. Iti s noticeable that the complete model, when linearized, shows a diferent structure than the simpler one, rather than just different parameters. This difference implies changes in the behavior of the model and results in better controllers for this system. To validate the superiority of the complete model it was applied both controllers on the real system and present the results.

Palavras-chave: Linear Quadratic Regulator; Newton-Euler Iterative Method; 3 DOF Helicopter