Modelling, Identification and Control of a 2 DOF Helicopter Prototype

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  • Additional Information
    • Publication Information:
      IEEE
    • Publication Date:
      2019
    • Abstract:
      In this paper, an alternative for the modeling and control of a helicopter prototype with two degrees of freedom is presented. In order to better understand the dynamics of the real prototype, a mathematical model based on Lagrangian mechanics was established. Due to the non-linearity and open-loop unstability of the prototype, an approximate system was proposed based on a voltage-torque approximation that allows obtaining a non-linear linearizable model. From the linearization of this model, PID, and LQR + I controllers were designed to stabilize the prototype at different points of operation. For the design of these controllers, it was necessary to identify physical parameters and adjust the known ones. The performance of the controllers was estimated by IAE and ISEU indices.
    • Contents Note:
      Conference Acronym: CCAC
    • Author Affiliations:
      Implemetation Management Citi,Bogotá,D.C.,Colombia
      Universidad Distrital “Francisco José de Caldas”,Facultad de Ingeniería,Bogota,D.C.,Colombia
    • ISBN:
      978-1-5386-6962-4
    • Relation:
      2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)
    • Accession Number:
      10.1109/CCAC.2019.8920821
    • Rights:
      Copyright 2019, IEEE
    • AMSID:
      8920821
    • Conference Acronym:
      CCAC
    • Date of Current Version:
      2019
    • Document Subtype:
      IEEE Conference
    • Notes:
      Conference Location: Medellín, Colombia, Colombia

      Conference Start Date: 15 Oct. 2019

      Conference End Date: 18 Oct. 2019
    • Accession Number:
      edseee.8920821
  • Citations
    • ABNT:
      MURCIA, J. C. R.; ALFONSO, L. F. C. Modelling, Identification and Control of a 2 DOF Helicopter Prototype. 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference on, [s. l.], p. 1–6, 2019. DOI 10.1109/CCAC.2019.8920821. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8920821. Acesso em: 15 ago. 2020.
    • AMA:
      Murcia JCR, Alfonso LFC. Modelling, Identification and Control of a 2 DOF Helicopter Prototype. 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference on. October 2019:1-6. doi:10.1109/CCAC.2019.8920821
    • APA:
      Murcia, J. C. R., & Alfonso, L. F. C. (2019). Modelling, Identification and Control of a 2 DOF Helicopter Prototype. 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference On, 1–6. https://doi.org/10.1109/CCAC.2019.8920821
    • Chicago/Turabian: Author-Date:
      Murcia, Javier Camilo Rodriguez, and Luis Francisco Combita Alfonso. 2019. “Modelling, Identification and Control of a 2 DOF Helicopter Prototype.” 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference On, October, 1–6. doi:10.1109/CCAC.2019.8920821.
    • Harvard:
      Murcia, J. C. R. and Alfonso, L. F. C. (2019) ‘Modelling, Identification and Control of a 2 DOF Helicopter Prototype’, 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference on, pp. 1–6. doi: 10.1109/CCAC.2019.8920821.
    • Harvard: Australian:
      Murcia, JCR & Alfonso, LFC 2019, ‘Modelling, Identification and Control of a 2 DOF Helicopter Prototype’, 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference on, pp. 1–6, viewed 15 August 2020, .
    • MLA:
      Murcia, Javier Camilo Rodriguez, and Luis Francisco Combita Alfonso. “Modelling, Identification and Control of a 2 DOF Helicopter Prototype.” 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference On, Oct. 2019, pp. 1–6. EBSCOhost, doi:10.1109/CCAC.2019.8920821.
    • Chicago/Turabian: Humanities:
      Murcia, Javier Camilo Rodriguez, and Luis Francisco Combita Alfonso. “Modelling, Identification and Control of a 2 DOF Helicopter Prototype.” 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference On, October 1, 2019, 1–6. doi:10.1109/CCAC.2019.8920821.
    • Vancouver/ICMJE:
      Murcia JCR, Alfonso LFC. Modelling, Identification and Control of a 2 DOF Helicopter Prototype. 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC), Automatic Control (CCAC), 2019 IEEE 4th Colombian Conference on [Internet]. 2019 Oct 1 [cited 2020 Aug 15];1–6. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8920821