TY - GEN
T1 - Modeling and Control of a Two DOF Helicopter with Tail Rotor Disturbances
AU - Sánchez-Meza, Victor G.
AU - Lozano-Hernández, Yair
AU - Gutiérrez-Frías, Oscar O.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11
Y1 - 2020/11
N2 - The modelling and control of a two-degrees-of-freedom helicopter with perturbations in the tail rotor are presented. Numerical simulations are presented to analyze the behavior of the PID and GPI controllers when the angle of the tail rotor is modified. The controllers were designed based on the mathematical model of a prototype developed at UPIITAIPN. Therefore, the mechanical parameters of the system were calculated and the motors parameters were characterized. The prototype is able to rotate freely on the z(?) axis, whereas on the y(?) axis the rotation is limited to a range of -0.925rad to 0.925 rad. The work was carried out using the following methodology: the mathematical model and the non-linear characteristics were analyzed, the physical parameters were experimentally measured and the controllers were designed based on the obtained model. Finally, the proposed controllers were simulated.
AB - The modelling and control of a two-degrees-of-freedom helicopter with perturbations in the tail rotor are presented. Numerical simulations are presented to analyze the behavior of the PID and GPI controllers when the angle of the tail rotor is modified. The controllers were designed based on the mathematical model of a prototype developed at UPIITAIPN. Therefore, the mechanical parameters of the system were calculated and the motors parameters were characterized. The prototype is able to rotate freely on the z(?) axis, whereas on the y(?) axis the rotation is limited to a range of -0.925rad to 0.925 rad. The work was carried out using the following methodology: the mathematical model and the non-linear characteristics were analyzed, the physical parameters were experimentally measured and the controllers were designed based on the obtained model. Finally, the proposed controllers were simulated.
KW - controller
KW - non-linear system
KW - rotary wing
KW - tail rotor disturbance
KW - two degrees of freedom helicopter
UR - http://www.scopus.com/inward/record.url?scp=85102275314&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE51770.2020.00021
DO - 10.1109/ICMEAE51770.2020.00021
M3 - Contribución a la conferencia
AN - SCOPUS:85102275314
T3 - Proceedings - 2020 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2020
SP - 79
EP - 84
BT - Proceedings - 2020 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2020
Y2 - 16 November 2020 through 21 November 2020
ER -