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Majalah Ilmiah UNIKOM

Vol.9, No. 2

211

H a l a m a n

And we obtain

The implementation of the controller is

shown in figure 4 – 7. It consists of three

loops. The pitch command is limited to +/-

90 degrees.

SIMULATION RESULTS

In this simulation, the reference signals

for the elevation and travel angles are

changes between 100

o

to 60

o

and

between 20

o

to 10

o

to simulate the

demands given by the pilot as shown in

Figure 8 and Figure 9. Also, the sampling

time and simulation time used are 0.1 and

270 seconds, respectively.

Figure 10 and Figure 11 shows the

transient response and steady-state

response of the elevation angle and travel

angle to step signal. From Figure 10 and

Figure 11, one sees that the percent

overshoots of elevation and travel angles

are approximate to 22.5 % and 40 %

respectively. The settling time of elevation

and travel angles are approximate to 10s

and 20s with 5% criterion. And the steady

state error of the elevation and travel

angles are approximate to zero.

The corresponding voltage signals

applied to the rotors are shown in Figure

12 and Figure 13.

Muhammad Aria

(21)

(22)

(23)

(24)

Figure 4. LabVIEW Feedback Controlled

Block Diagram

Figure 5. PID Angle Controller

Figure 7. PID Elevation Controller