Design of Control System for Laboratory Model of 2 DoF Helicopter

U radu se bavilo projektiranjem, upravljanjem i analiziranjem ponašanja helikoptera s dva stupnja slobode. Preko fizikalne slike helikoptera dolazi se do njegovoga matematičkoga opisa. Zbog nelinearnosti matematičkoga sustava helikoptera, provodi se linearizacija sustava uz pomoć Eulerove jednadžbe. Sustav je opisan u prostoru stanja s prostornim matricama A, B, C i D. Za upravljanje sustava odabire se linearno kvadratični regulator i logika njegovoga rada opisana je. Projektiranje regulatora za sustav napravljen je na dva načina. Jedan je s integralnim djelovanjem, drugi bez integralnog djelovanja. Za svaki način, s obzirom na dobivene parametre, izračunate su kontrolne matrice sustava. Simulacije su napravljene na realnome i simulacijskom modelu te je ponašanje i uspješnost projektiranja opisana i analizirana.The paper deals with designing, controlling and analyzing the behavior of helicopters with two degrees of freedom. Through the physical image of the helicopter, a mathematical description is made. The linearization of the system using the Euler equation is performed for the nonlinearity of the helicopter mathematical system. The system is described in state space with space matrices A, B, C and D. The linear quadratic regulator is selected for the system control and the logic of its operation is described. The design of the controller for the system is made in two ways. One is with integral action, the other without integral action. In either way, the control matrices of the system are calculated based on the obtained parameters. The simulations were made on a realistic and a simulation model. The behavior and design success were described and analyzed