Benchmark model of Quanser's 3 DOF Helicopter
Résumé
This paper proposes a software benchmark tool for the Quanser " 3 DOF Helicopter " in the Mathworks Simscape environment, based on a multi-body model of the experimental setup. The proposed benchmark tool takes into account a number of implementation features of the experimental setup and aims at providing a tool for simulative validation and performance analysis of control strategies. Along with this software-in-the-loop tool, a novel reduced complexity non-linear model for the Quanser " 3 DOF Helicopter " is derived from the Lagrangian description of the full multi-body model, with the scope of being used in the control synthesis phase. The identification of the models parameters is carried out following a " gray-box " type of paradigm in order to match the models with the experimental setup. A feedback linearizing control law is as well proposed, based on the reduced complexity model. Closed-loop experimental results both show the accuracy of the simulated response compared to the experimental response, and the effectiveness of the proposed control strategy in a set-point regulation task.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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