Helicopter flight modeling and robust autonomous control with uncertain dynamics

• Autor(a) principal: Alves, Sandro Bruno Duarte
• Data de Publicação: 2012
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.6/2003
• topic: Helicóptero; Controlo de helicópteros; Dinâmica de voo

Helicopter flight control has gained greater visibility in the last decades due to its characteristics. It is a task of high difficulty due to the system being changeable. Helicopter control is the junction of several variables such as the flying qualities and performance, skill of the pilot, weather conditions, etc. For a given configuration of a helicopter (military, civil, SAR, etc.), we need precise control parameters, and is in flying qualities that we focus our attention. This paper is then dedicated to autonomous modeling and control of conventional rotarywing platforms, so that there is a good balance between robustness and performance of the system, so that when there are disturbances, it can stabilize more quickly and effectively and, to verify this, a particular helicopter is used for the validation of the methods elaborated: DRA research ZD559 Lynx (Lynx Mk7), still serving the UK Army Air Corps. In helicopter flight dynamics, will be focused autorotation phase and different flight speed phase and two specific control systems will be compared: normal LQR and robust LQR. Is then designed the controllers previously mentioned, comparing their results through the dynamic model already linearized in order to verify which one is most appropriate for the platform. When there is a change in the balance of the aircraft, it can return to the same position as quickly as possible. By the obtained results, it’s verified in both cases, success in stabilizing the aircraft and controlling it’s trajectory given different reference speeds, a controller is most evident than the other.