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With Quanser the possibilities are infinite + 1 ( 9 0 5 ) 9 4 0 - 3 5 7 5 w w w . q u a n s e r. c o m
Description
Key Features Curriculum Topics
• Disturbance Rejection
• Tracking Control & Regulation
• Coupled Systems
• Full State-Feedback
• Observer Design & Implementation
• Frequency Analysis
• System Modeling & Simulation
• Pole-Placement Technique
• Root Locus Design
• Non-Linear Friction
• Hardware in the Loop
• Real-Time Control
• Discrete Time Sampling
• System Identification
• Multivariable Control Design
Product Information Sheet S2 - 1 - rev. C
Quanser has developed an extensive range of complex Specialty Challenges, a select sample
of these experiments includes:
The 2 DOF Helicopter is an Aerospace Control Challenge, and part of the Quanser Specialty
Control Challenge Range. Other Aerospace Control Challenges include:
For details of these experiments and more, visit our website www.quanser.com
Range of Quanser
Specialty
Experiments
Related Aerospace
Challenges
Specialty Control Challenges
MAGLEV – Magnetic Levitation
Shaker Tables and Smart Structures
2 DOF Serial Flexible Link / Joint
Heatflow Experiment
Coupled Tanks
Industrial Mechatronic Drives Unit
High Fidelity Linear Cart System
Triple Inverted Pendulum, Dual Inverted Pendulum ….
5 DOF Open Architecture Robots
Mechatronics Kit
The Cube
3 DOF Crane
Aerospace Control Challenges
• 3 DOF Helicopter • 3 DOF Hover
• Fully compatible with Matlab/Simulink & LabVIEW
• Open architecture design
• High Quality Slipring allows for unlimited yaw
• High Resolution Encoders to sense position and
rate feedback of yaw and pitch axis
• High Quality Aluminum chassis with precision
crafted parts
• Equipped with safety grills surrounding both
propeller blades to eliminate injury
• Fully documented system models & parameters
The 2 DOF (Degrees of Freedom) Helicopter offers the student a
unique opportunity to control the pitch and yaw of a simplified
Helicopter model. Actuated by 2 DC motors, mounted at 90 degrees
to each other, it has the ability to pitch and yaw. The Helicopter
frame is free to rotate on a vertical base equipped with an electrical
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 experiment provides an economical
Hardware-in-the-Loop testbed to understand and develop control
laws for a vehicle that has dynamics representative of a tethered
rigid body helicopter, spacecraft or underwater vehicle.
2 DOF Helicopter
SPECIALTY CHALLENGE
System
Specifications
stinUeulaVnoitacificepS
mc54thgieHydoB
gk5.3thgieWydoB
mc5.71x5.71)WxL(snoisnemiDesaB
mgk703.0aitrenIfotnemoMydoB 2
mc6.04htgneLlatoT
mc3.02rotomhctipottovipmorfecnatsiD
mc3.02rotomwayottovipmorfecnatsiD
mm082retemaidrelleporphctiP
seerged)°54±(°09noitomfoegnarhctiP
mm302retemaidrelleporpwaY
seerged°063noitomfoegnarwaY
ver/stnuoc6904noituloseRredocnEhctiP
ver/stnuoc2918noituloseRredocnEwaY
V/N2278.0tnatsnocecrofrotomhctiP
V/N24.0tnatsnocecrofrotomwaY
System
Requirements
Product Information Sheet S2 - 2 - rev. C
The 2 DOF Helicopter plant requires the following components to complete the experimental setup:
evitanretlAdednemmoceRresnauQtnenopmoC
(Common Configuration)
Power Modul Alternate Power Amplifier
(Minimum requirements: +/- 24V, 5A)
2 x Quanser UPM 2405
Quanser Q4, Q8 Series
Quanser QuaRC
Control Hardware dSPACE DS1104*
NationalInstrumentsE-orM-SeriesDAQs*
Control Software The Mathworks – RTWT, xPC
dSPACE – ControlDesk
National Instruments – LabVIEW
* Quanser offers interface boards for NI E- and M- series & dSPACE DS1104 boards.
With Quanser the possibilities are infinite + 1 ( 9 0 5 ) 9 4 0 - 3 5 7 5 w w w . q u a n s e r. c o m
Products and/or services referred to herein are trademarks or registered trademarks of Quanser Inc. and/or its affiliates. Other product and company names
mentioned herein are trademarks or registered trademarks of their respective owners. © 2008 Quanser Inc. All rights reserved. Specifications are subject to
change without notice. Errors and omissions excepted.
Typical
Response
The following plot demonstrates the
response of the helicopter pitch angle.
The closed-loop pitch controller is also
reacting to controlled disturbances from
the yaw loop controller.
MIMO Pitch Closed Loop – Command and Measured Response
Sec.
Sec.
MIMO Closed Loop Voltage
BRANCH OFFICES: Bangalore|New Delhi|Mumbai|Kolkata|Hyderabad | www.edutechindia.com | infoindia@edutech.com
HEAD OFFICE: Crystal Lawn. No 20, 1st street, Haddows Road, Chennai - 600 006 | Tel: +91 44 2833 0999 | Fax: + 91 44 2833 1777
DISTRIBUTOR:
2 DOF Helicopter
SPECIALTY CHALLENGE

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2 DOF Helicopter

  • 1. With Quanser the possibilities are infinite + 1 ( 9 0 5 ) 9 4 0 - 3 5 7 5 w w w . q u a n s e r. c o m Description Key Features Curriculum Topics • Disturbance Rejection • Tracking Control & Regulation • Coupled Systems • Full State-Feedback • Observer Design & Implementation • Frequency Analysis • System Modeling & Simulation • Pole-Placement Technique • Root Locus Design • Non-Linear Friction • Hardware in the Loop • Real-Time Control • Discrete Time Sampling • System Identification • Multivariable Control Design Product Information Sheet S2 - 1 - rev. C Quanser has developed an extensive range of complex Specialty Challenges, a select sample of these experiments includes: The 2 DOF Helicopter is an Aerospace Control Challenge, and part of the Quanser Specialty Control Challenge Range. Other Aerospace Control Challenges include: For details of these experiments and more, visit our website www.quanser.com Range of Quanser Specialty Experiments Related Aerospace Challenges Specialty Control Challenges MAGLEV – Magnetic Levitation Shaker Tables and Smart Structures 2 DOF Serial Flexible Link / Joint Heatflow Experiment Coupled Tanks Industrial Mechatronic Drives Unit High Fidelity Linear Cart System Triple Inverted Pendulum, Dual Inverted Pendulum …. 5 DOF Open Architecture Robots Mechatronics Kit The Cube 3 DOF Crane Aerospace Control Challenges • 3 DOF Helicopter • 3 DOF Hover • Fully compatible with Matlab/Simulink & LabVIEW • Open architecture design • High Quality Slipring allows for unlimited yaw • High Resolution Encoders to sense position and rate feedback of yaw and pitch axis • High Quality Aluminum chassis with precision crafted parts • Equipped with safety grills surrounding both propeller blades to eliminate injury • Fully documented system models & parameters The 2 DOF (Degrees of Freedom) Helicopter offers the student a unique opportunity to control the pitch and yaw of a simplified Helicopter model. Actuated by 2 DC motors, mounted at 90 degrees to each other, it has the ability to pitch and yaw. The Helicopter frame is free to rotate on a vertical base equipped with an electrical 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 experiment provides an economical Hardware-in-the-Loop testbed to understand and develop control laws for a vehicle that has dynamics representative of a tethered rigid body helicopter, spacecraft or underwater vehicle. 2 DOF Helicopter SPECIALTY CHALLENGE
  • 2. System Specifications stinUeulaVnoitacificepS mc54thgieHydoB gk5.3thgieWydoB mc5.71x5.71)WxL(snoisnemiDesaB mgk703.0aitrenIfotnemoMydoB 2 mc6.04htgneLlatoT mc3.02rotomhctipottovipmorfecnatsiD mc3.02rotomwayottovipmorfecnatsiD mm082retemaidrelleporphctiP seerged)°54±(°09noitomfoegnarhctiP mm302retemaidrelleporpwaY seerged°063noitomfoegnarwaY ver/stnuoc6904noituloseRredocnEhctiP ver/stnuoc2918noituloseRredocnEwaY V/N2278.0tnatsnocecrofrotomhctiP V/N24.0tnatsnocecrofrotomwaY System Requirements Product Information Sheet S2 - 2 - rev. C The 2 DOF Helicopter plant requires the following components to complete the experimental setup: evitanretlAdednemmoceRresnauQtnenopmoC (Common Configuration) Power Modul Alternate Power Amplifier (Minimum requirements: +/- 24V, 5A) 2 x Quanser UPM 2405 Quanser Q4, Q8 Series Quanser QuaRC Control Hardware dSPACE DS1104* NationalInstrumentsE-orM-SeriesDAQs* Control Software The Mathworks – RTWT, xPC dSPACE – ControlDesk National Instruments – LabVIEW * Quanser offers interface boards for NI E- and M- series & dSPACE DS1104 boards. With Quanser the possibilities are infinite + 1 ( 9 0 5 ) 9 4 0 - 3 5 7 5 w w w . q u a n s e r. c o m Products and/or services referred to herein are trademarks or registered trademarks of Quanser Inc. and/or its affiliates. Other product and company names mentioned herein are trademarks or registered trademarks of their respective owners. © 2008 Quanser Inc. All rights reserved. Specifications are subject to change without notice. Errors and omissions excepted. Typical Response The following plot demonstrates the response of the helicopter pitch angle. The closed-loop pitch controller is also reacting to controlled disturbances from the yaw loop controller. MIMO Pitch Closed Loop – Command and Measured Response Sec. Sec. MIMO Closed Loop Voltage BRANCH OFFICES: Bangalore|New Delhi|Mumbai|Kolkata|Hyderabad | www.edutechindia.com | infoindia@edutech.com HEAD OFFICE: Crystal Lawn. No 20, 1st street, Haddows Road, Chennai - 600 006 | Tel: +91 44 2833 0999 | Fax: + 91 44 2833 1777 DISTRIBUTOR: 2 DOF Helicopter SPECIALTY CHALLENGE