Instrumentation Design, System Identification, and LQR/LQG Control of a Small Scale Helicopter

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Primary Martinez-Gonzalez_Alejandro_201407_MSc.pdf (58.75 MB)

DOI

https://doi.org/10.7939/R36T0H330

Date

2014-11

Author

Martinez-Gonzalez, Alejandro

Institution

http://id.loc.gov/authorities/names/n79058482

Degree Level

Master's

Degree

Master of Science

Department

Department of Mechanical Engineering

Supervisor / Co-Supervisor and Their Department(s)

Koch, C. R. (Department of Mechanical Engineering, University of Alberta), Fahimi, Farbod (Department of Mechanical Engineering, University of Alabama, Huntsville)

Examining Committee Member(s) and Their Department(s)

Raboud, Donald (Department of Mechanical Engineering, University of Alberta)
Koch, C. R. (Department of Mechanical Engineering, University of Alberta)
Fahimi, Farbod (Department of Mechanical Engineering, University of Alabama, Huntsville)

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Abstract

The interest of Unmanned Aerial Vehicles (UAV) for civil application has increased dramatically in recent years. With improvement in computer hardware, lightweight sensors, and light material, the cost of UAVs has reduced significantly. UAVs with vertical takeoff and landing capabilities have been the focus of much development. A mathematical model for a scale RC helicopter including the rotor dynamics is presented in this work. The main rotor lift slope CL, the main rotor aerodynamic drag coefficient CDo, and the moments of inertia about the center of gravity are determined by the use of two sets of HIL testbeds. The avionics instrumentation, communication protocol and Ground Station system are described in detail. Finally, the model linearization and the LQR/LQG compensator in output feedback configuration with reference inputs are presented. Simulation results show that the proposed compensator stabilized and control the linearized dynamic of the helicopter.

Item Type

http://purl.org/coar/resource_type/c_46ec

Title

Instrumentation Design, System Identification, and LQR/LQG Control of a Small Scale Helicopter

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This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.

Subject/Keywords

LQR/LQG Control
Helicopter Instrumentation
Helicopter Dynamics

Language

en

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