Design Of2-DOF Helicopter Experimental System

The helicopter experimental system is a common object and an idealexperiment platform. All the2-DOF,3-DOF and6-DOF helicopter experimentalsystems are nonlinear and highly coupled between axes. As there are propellers inthe system, the aerodynamics should be considered. So lots of scholars are interestedin such system, and would like to apply new ideas into the system.In this paper, we proposed a process to build a2-DOF helicopter experimentalsystem. Began with the mechanical structure analyze and design, we gave threeschemes: buy a model helicopter and construct a foundation; build a system withmodel components; design and build all the mechanical system. And we apply thelast scheme after compare the three ones.According to the mechanical system and the intent to build such a system, wedesigned the electrical system, and choosed the IPC and DAQ as the base method.We chose two encoders to measure the angles. The actuators of the system are twobrushless motors with propellers controlled by the DAQ.After we designed the mechanical and electrical system, we programmed thesoftware based on RTX and MFC: a real-time process and a dialog window. Thereal-time process controls the hardware and calculates the control law, then outputthe result through the digital output ports of the DAQ. The user can control thesystem by the dialog window and save the data.In the end we established the mathematic model of the system. After linearizethe model we gave three control laws. Both the simulation and the experiment got agood result.