3-DOF Helicopter Yaw.

1. The 3 DOF Helicopter system is a simplified
helicopter model, ideally suited to introduce
intermediate to advanced control concepts and
theories relevant to real world applications of
flight dynamics and control in the tandem rotor
helicopters, or any device with similar dynamics

2. 
1. Hamza Saeed Khan SP14-EPE-096
2. Sajid Ali SP14-EPE-019
3. Mujtaba Hussain SP14-EPE-092
4. Shakir Muhammad SP14-EPE-042
5. Abdu-Rauf SP14-EPE-022
6. Amir Shahzad SP14-EPE-003
7. Arif Hussain SP14-EPE-044
8. Amir Iqbal SP14-EPE-001
Group Members

3. 
 Helicopter: a type of aircraft which derives both lift
and propulsion from one or more sets of horizontally
revolving overhead rotors. It is capable of moving
vertically and horizontally, the direction of motion
being controlled by the pitch of the rotor blades.
 Yaw: (of a moving ship or aircraft) twist or oscillate
about a vertical axis
 What does 3-DOF stand for?
>Three Degree Of Freedom.
Introduction

4. 
Block Diagram of Heli.

5. 
 Position sensor: This sensor will sense position of the
propeller motors.
 Propeller motor: A propeller is a type of fan that
transmits power by converting rotational motion
into thrust (means Thrust is a reaction force),
actuated by DC motors
 Balance block: It will balance the whole block of
3DOF helicopter.
 Slip rings: The slip ring mechanism on the vertical
axis allows the body to rotate continuously
Explaining blocks

6. 
 Degree of freedom: means independent parameters
that define its configuration, motions and
dimensions.
 We will deals in 3-DOF helicopter.
 We only deal with Pitch, Yaw, and Roll in position of
the body of Helicopter model.
3-DOF

7. 
 6-DOF means six degree of freedom. We examine it
to clarify such aspect of 3-DOF case for position of
YAW as follow:
6-DOF

8. 
Explaining 3-DOF

9. 
 There are differential equations to describe the whole
dynamics of the system:
 Travel Axis: As our project is based on Yaw so also
called travel axis of 3-DOF Helicopter.
 When the roll axis is tilted and overturned, the
horizontal component of G will cause a torque about
that the travel axis which results in an acceleration
about the travel axis, Assume the body has roll up
by an angle p as shown in Figure 3
Mathematical Modeling

10. 
Simplified model of
Travel axis

11. 
The differential equation
is:

12. 
 First we will find transfer function after derive travel
axis differential equations above so;
 In order to achieve a desired travel rate (tc), we will
design a closed loop controller to command a
desired roll angle;
Transfer function design

13. 
 Instantaneously and accurately, from the above two
equations, we can write the closed-loop transfer
function;

14. 
 There are two types of networks i-e Active and
Passive.
 Active Types: Has the following compensators PI,
PD, and PID.
 Passive Types: Has the following compensators i-e
Lag compensator, Lead compensator, and Lead-Lag
compensator.
Controller Designing

15. 
We designed PI for this
system
 From this diagram we clarify all the controllers as;

16. 
 For PI controller we put D (kd=0) equals zero in
above diagram.

17. 
 Increasing Kp will reduce the steady state error.
 After certain limit, increasing Kp will only increase
overshoot.
 Kp reduces rise time.
Conclusion

18. 
 The 3 DOF Helicopter can be used:
 for research in various areas, including adaptive
control,
 nonlinear control,
 optimal control,
 predictive control,
 fault detection and system identification
Application