Your goal is to move the Quanser 3 DOF Helicopter laboratory model (shown below) in lab K26 by 180 degrees in the travel angle and you have to achieve that with a settling time under 15 seconds (with error band 5 %, i.e. 9 degrees).

Quanser 3DOF helicopter

Maybe just a short hint, if you download Simulink Courseware resources, you find a short document describing a linear state-space model of the laboratory model and also a working Simulink scheme with an implemented LQR. If you will need also a nonlinear model of the helicopter, you can find one, among others, in [1].

The Simulink scheme from the manufacturer doesn't actually work right away. You have to carry out the two following steps to make it work:
1) Find the block "HIL Initialize", set Board type to q8_usb for the helicopter model and q_pid for the suspension model
2) Model Configuration parameters - Code Generation - System target file, set to quarc_win64.tlc

References

[1] M. Brentari, P. Bosetti, I. Queinnec, and L. Zaccarian, “Benchmark model of Quanser’s 3 DOF Helicopter.” 16-Feb-2018. [URL]



Naposledy změněno: středa, 17. února 2021, 00.42