Majalah Ilmiah UNIKOM
Vol.9, No. 2
207
H a l a m a n
PID CONTROL OF A THREE-DEGREES-OF-FREEDOM
MODEL HELICOPTER
MUHAMMAD ARIA
Department of Electrical Engineering
Engineering and Computer Science Faculty
Universitas Komputer Indonesia
Helicopter dynamic are in general nonlinear, time-varying and may be highly
uncertain. This paper presents the design and implementation of a Proportional-
Integral-Derivative (PID) Controller to control the elevation and travel of three-
degrees-of freedom (3DOF) Helicopter. The controller is linear time-invariant and
can be realized easily. The simulation results show that the designed control
system can guarantee high precision altitude and elevation control under multi-
Index Terms –
INTRODUCTION
In this paper, a Proportional-Integral-
Derivative (PID) controller is applied to a
laboratory helicopter model used in the
experiment is a laboratory-scale three-
degrees-of freedom (3DOF) helicopter
produced by Quanser Consulting, Inc. The
3DOF helicopter control system is a
nonlinear MIMO uncertain system with
unknown constant parameters, bounded
disturbance and nonlinear uncertainty. Our
control goal is to have the attitude of the
helicopter track a reference signal by output
feedback.
The 3DOF helicopter consists of a base
upon which a long arm is mounted. The arm
carries the “helicopter body” on one end
and a counterweight on the other. The arm
can tilt about an “elevation” axis as well as
swivel about a vertical (travel) axis.
Quadrature optical encoders mounted on
these axes allow for measuring the
elevation and travel of the arm. The pitch
angle is measured via a third encoder. Two
motors with propellers mounted on the
helicopter body can generate a force
proportional to the voltage applied to the
motors. The force generated by the
propellers causes the helicopter body to lift
off the ground. The purpose of the
counterweight is to reduce the power
requirements on the motors. Electrical
signals to and from the arm and helicopter
are channeled through the slipring to
eliminate tangled wires, reduce friction and
allow for unlimited and unhindered travel.
The purpose of the experiment is to
design a PID controller to maneuver the
helicopter body to track and regulate the
elevation and travel of the 3DOF Helicopter.
The paper is organized as follows.
Dynamic model of a helicopter is provided in
Section II. Designing the control system is
presented in Section III. The simulation
results are provided in Section IV. In Section
V, we conclude with conclusion.
DYNAMIC MODEL
The research presented in this paper is
based on a mathematical model of a 3-DOF
bidang
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