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

Some more description of the model is at our Gitlab repository at https://gitlab.fel.cvut.cz/aa4cc/edu-ctrl-lab-models/quanser-3dof-helicopter.

Maybe just a short hint, if you download Simulink Courseware resources from the product webpage (or from our gitlab repo), 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].

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, 6. dubna 2022, 16.36