Modelling and identification of a laboratory helicopter

Abstract. In this paper modelling and identification of a laboratory helicopter with the final aim to design a control system is presented. The CE 150 made by Humusoft is a laboratory helicopter designed for studying system dynamics and control engineering principles. First, the helicopter set-up is depicted. Next, theoretical and empyric modelling is systematically described. Identification of the necessary parameters is tackled and the results are presented. Finally, model validation is discussed and a simple control approach is proposed