Tham khảo tài liệu 'mechatronic systems, simulation, modeling and control part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 182 Mechatronic Systems Simulation Modelling and Control where K1 diag ky k and assume that K0 B 1 because matrix BK0 must be positive definite. Moreover BK0 I assures decoupling of fast mode channels which makes controller s tuning simpler. The dynamic part of the control law from 26 has the following form ụVỳ 3 2 d - v 2 3u d .v 1 d v r y y rty y 2 y rty y r y y 0 y k -7 3 - 3tX 2 - 3 1 - 0 uV 3LL2d v 2 3ud v 1 dm v p p p p 2 p p q p p 0 p k - M3 - 3y - p 2 - -P 0 37 38 The entire closed loop system is presented in . Fig. 3. Closed-loop system 5. Results of control experiments In this section we present the results of experiment which was conducted on the helicopter model HUMUSOFT CE150 to evaluate the performance of a designed control system. As the user communicates with the system via Matlab Real Time Toolbox interface all input output signals are scaled into the interval -1 1 where value 1 is called Machine Unit and such a signal has no physical dimension. This will be referred in the following text as MU. The presented maneuver experiment 1 consisted in transition with predefined dynamics from one steady-state angular position to another. Hereby the control system accomplished a tracking task of reference signal. The second experiment was chosen to expose a robustness of the controller under transient and steady-state conditions. During the experiment the entire control system was subjected to external disturbances in the form of a wind gust. Practically this perturbation was realized mechanically by pushing the helicopter body in required direction with suitable force. The helicopter was disturbed twice during the test ti 130 5 Ỉ2 170 5 . Application of Higher Order Derivatives to Helicopter Model Control 183 Experiment 1 - tracking of a reference trajectory Fig. 4. Time history of pitch angle ty Fig. 5. Time history of yaw angle Ọ Fig. 7. Time history of tail motor voltage 2 184 Mechatronic Systems Simulation Modelling and Control Experiment 2
