Abstract
This paper investigates the use of a dual-loop control system for a laboratory helicopter with three degrees of freedom, namely pitch, elevation and travel. The goal consists of following a travel reference at constant elevation while limiting pitch excursion. A first-principles model of the helicopter was initially employed to design the inner loop through a Discrete Linear Quadratic Regulator (DLQR) formulation. With this stabilising controller in place, the step response to a travel command was acquired to design a Dynamic Matrix Control (DMC) scheme with pitch constraints. The dual-loop architecture was implemented in a multirate manner, with DMC acting as a command governor for the DLQR controller. Experimental results are presented to show the efficacy of the overall control system.
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Acknowledgments
R. K. H. Galvão acknowledges the support of Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq, Brazil) under grant 303393/2018-1 (Research Fellowship). A. Caregnato-Neto acknowledges the support of Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil (CAPES) - Finance Code 001.
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Ferreira, A.S.R., Caregnato-Neto, A., Galvão, R.K.H., Afonso, R.J.M. (2022). Dynamic Matrix Control of a 3DOF Helicopter with Stabilising Inner Loop. In: Brito Palma, L., Neves-Silva, R., Gomes, L. (eds) CONTROLO 2022. CONTROLO 2022. Lecture Notes in Electrical Engineering, vol 930. Springer, Cham. https://doi.org/10.1007/978-3-031-10047-5_20
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