Control Research And Simulation Of Three-dof Helicopter Model System

The three DOF helicopter model system is an typical control experimental device. Sinceit has nonlinear, multivariable, strong coupling characteristics, it is difficult for us to get itsaccurate mathematical model by mathematical analysis methods. In addition, it is difficult toavoid the presence of the interference of some uncertain while actual flight. So, the controllerwhich we design must be able to respond to the given instructions quickly and accurately, atthe same time, it has strong robustness for the unknown disturbance. This article is mainly thedesign of the controller for angle tracking problems. The specific content as follows：First, this paper briefly describes the system operation principle and composition andestablishes a common mathematical model of the system.Second, conventional PID control strategy based on LQR is used to achieve angle andlateral angle tracking of three DOF helicopter model system, and simulation results areanalyzed.Third, from the point of view of practical application, the logic controller is designedbased on logic control method, without establishing mathematical model of the system,realizes the angle tracking control of the system. And the control results of conventional PIDbased on LQR are compared. The results show that the logic controller has better controleffect. At the same time, Semi physical simulation also shows the value for engineeringapplication.Fourth, simply difficult to obtain the inverse model by the mathematical theory,combining neural network with the method of inverse system to solve the difficult problem ofinverse model acquisition, as well as transforming the complex nonlinear system into severalrelatively independent pseudo linear system. Next, the controller is designed according to theinternal model control method, completing the tracking control of the elevation angle andlateral angle. And the control results of conventional PID based on LQR are compared. Theresults show that the internal model controller has better control effect. At the same time,Semi physical simulation also shows the value for engineering application.MATLAB and semi physical simulation show that control effect of the two controllersare better than LQR optimal control method from Canada Quanser company. Logic controllerrealizes the tracking control of the system without establishing mathematical model of thesystem, suitable for model unknown situation. But the internal model controller is required toobtain the exact inverse model to get better control effect.