Modelling, Identification and Control of a 2 DOF Helicopter Prototype

Abstract

In this paper an alternative for the modeling and control of a helicopter prototype with two degrees of freedom is presented. In order to better understand the dynamics of the real prototype, a mathematical model based on Lagrangian mechanics was established. Due to the non-linearity and open-loop instability of the prototype, an approximate system was proposed based on a voltage-torque approximation that allows to obtain a non-linear linearizable model. From the linearization of this model, PID and LQR + I controllers were designed to stabilize the prototype at different points of operation. For the design of these controllers, it was necessary to identify physical parameters and adjust the known ones. The performance of the controllers was estimated by IAE and ISEU indices