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Majalah Ilmiah UNIKOM

Vol.9, No. 2

208

H a l a m a n

laboratory helicopter system from Quanser

Consulting, Inc. The 3-DOF helicopter

consists of a base upon which an arm is

mounted. The arm carries the helicopter

body on one end and a counter weight on

the other end. The arm can pitch about an

elevation axis as well as swivel about a

vertical axis. Encoders that are m

The research presented in this paper is

based on a mathematical model of a 3-

DOF laboratory helicopter system from

Quanser Consulting, Inc. The 3-DOF

helicopter consists of a base upon which

an arm is mounted. The arm carries the

helicopter body on one end and a counter

weight on the other end. The arm can pitch

about an elevation axis as well as swivel

about a vertical (travel) axis. Encoders that

are mounted on these axes allow

measuring the elevation and travel of the

arm. The helicopter body is mounted at the

end of the arm and is free to swivel about

a pitch axis. The pitch angle is measured

via a third encoder. Due to hardware

restrictions, the movement range of the

elevation and pitch angles are constrained

within [-1, +1] rad. Two DC motors with

propellers mounted on the helicopter body

can generate a force proportional to the

voltages applied to the DC motors. The

force generated by the propellers can

cause the helicopter body to lift off the

ground. The purpose of the counterweight

is to reduce the power requirements on

the motors. The 3DOF helicopter plant is

shown in Figure 1.

The system dynamics can be described

by the following state model [1,3]:

where

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

Muhammad Aria

Figure 1. Laboratory Helicopter from

Quanser Consulting, Inc

(1)