Diseño de un controlador LQG para un helicóptero de tres grados de libertad
| Autor: | Yosman Alexis Guerrero Gómez, Hernando González Acevedo |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Physics
control digital helicóptero 3 dof lcsh:T 020209 energy 020208 electrical & electronic engineering 02 engineering and technology General Medicine Experimental validation lcsh:Technology Three degrees of freedom Simulated data control lqg 0202 electrical engineering electronic engineering information engineering linealización lcsh:Q lcsh:Science Closed loop Humanities |
| Zdroj: | Revista Politécnica, Vol 15, Iss 28, Pp 54-62 (2019) |
| ISSN: | 2256-5353 1900-2351 |
| DOI: | 10.33571/rpolitec.v15n28a5 |
| Popis: | El articulo presenta el diseno de un controlador lineal cuadratico gaussiano (LQG) para regular los angulos de elevacion, cabeceo y viaje de un prototipo de un helicoptero de tres grados de libertad (3 DOF). El controlador LQG se ajusta en base del modelo matematico no lineal y se evalua la respuesta transitoria del sistema en lazo cerrado para diferentes valores de la senal de referencia, ajustando los parametros del controlador con el objetivo de estabilizar el sistema, disminuir el sobrepaso y el tiempo de establecimiento. La validacion experimental de la estrategia de control se realiza sobre un prototipo construido por los autores, la respuesta transitoria de los datos simulados se compara con los datos experimentales, para los tres grados de libertad del helicoptero, observando que el modelo matematico se ajusta a la dinamica del prototipo y se cumplen las condiciones de diseno. This paper presents the design of a linear quadratic gaussian (LQG) controller to regulate the pitch, elevation and travel angles of a helicopter with three degrees of freedom (3 DOF). The LQG controller was designed on the basis of a linear model and the regulator parameters were adjusted based on the simulations performed with the non-linear model, evaluating the transient response of the system in the closed loop for different values of the reference signal, guaranteeing obtain the greatest variation of the angles around the equilibrium point. The experimental validation was done using a prototype built by the authors; the transient response of the simulated data was compared against the experimental data, for the three degrees of freedom of the helicopter, observing that the mathematical model adjusts to the dynamic of the prototype and the conditions of design were fulfilled. |
| Databáze: | OpenAIRE |
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