Design a control system to control the roll, pitch and yaw of a 3 DOF “Hover”
An excellent and innovative Laboratory system designed for the study of behavior of vertical lift off vehicles without actually flying !! Three DC motors are mounted at the vertices of a planar round frame and drive four propellers. The frame is gimbaled on three orthogonal instrumented axes and is free to roll, pitch and yaw. The propellers generate a lift force that can be used to directly control the pitch and roll angles. The motors’ axes are parallel and the thrust vectors are normal to the frame. The gimbal is mounted on a vertical base equipped with a nine-contact slipring. Opposing propellers in the system are counter-rotating such that the total torque in the system is balanced . Electrical signals to and from the Hover are channeled through the slipring thus eliminating tangled wires and allowing for unlimited and unhindered yaw. The three rotations are measured using optical encoders.
The system is supplied with an LQR controller. You may implement any controller you wish.
Undergraduate project / Graduate / Research
Unmanned Vehicle System Laboratory