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2DOF Helicopter

2DOF Helicopter

Challenge:
Design a control system to manipulate the pitch and yaw of a 2 DOF helicopter.

Description:
Two DC motors are mounted at the two ends of a rectangular frame and drive two propellers. The motors are mounted at 90 degrees such that one causes pitch and the other causes yaw of the helicopter. The helicopter frame is free to rotate on a vertical base equipped with an eight-contact slipring. Electrical signals to and from the helicopter are channeled through the slipring to eliminate tangled wires, reduce friction and allow for unlimited and unhindered yaw. The coupling between the pitch and yaw motor torques results in a coupled 2 input-2 output system.

The system is supplied with an LQR controller. You may implement any controller you wish.

Difficulty:
Undergraduate – second course / project / Graduate / Research

Aerospace and Unmanned Product Range


  • 2DOF-heli


    2DOF Helicopter


  • 3DOF-heli


    3DOF Helicopter


  • 3DOF-Hover


    3DOF Hover


  • Qball


    Qball x4


  • Qbot


    Qbot


  • unmanned-system


    Unmanned Vehicle System Laboratory

 Demonstration

Windows Media Low (1.3 Mb) High (2.6 Mb)
QuickTime Low (2.1 Mb) High (3.9 Mb)

iMath Asia
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