Control μ-síntesis para estabilización de un helicóptero de 3 grados de libertad - µ-Synthesis Control for Stabilization of a Helicopter of 3 Degrees of Freedom (DOF)
DOI:
https://doi.org/10.32870/recibe.v7i1.92Palabras clave:
estabilización, μ-síntesis, helicóptero de 3 grados de libertadResumen
Este artículo presenta el diseño y puesta en marcha de un controlador robusto para estabilizar un helicóptero de 3 Grados De Libertad (GDL). Esta plataforma de experimentación es desarrollda por la empresa Quanser Inc. La caracterización de algunos parámetros del helicóptero incertidumbres estructuradas e inclusión de funciones de peso permiten obtener un controlador por μ-síntesis. La estabilización del helicóptero es llevada a cabo por el control de los tres ángulos más importantes: elevación, inclinación y viaje. Los resultados experimentales muestran que el diseño de control por la técnica de μ-síntesis proporciona un buen desempeño en sistemas con dinámicas altamente no lineales. Abstract: This work presents the design and implementation of a robust controller to stabilize a helicopter of 3 Degrees of Freedom (DOF). This experimentation platform is developed by the company Quanser Inc. The characterization of some parameters of the helicopter, the structured uncertainties and the inclusion of weight functions allow to obtain a controller by μ-synthesis. The stabilization of the helicopter is carried out by the control of the three most important angles: elevation, pitch and travel. The experimental results show that the control design by the technique of μ-synthesis provides a good performance in systems with highly non-linear dynamics. Keywords: µ-synthesis, 3 DOF helicopter, robust control.Citas
Apkarian, Jacob & Lévis, Michel & Fulford, Cameron (2012) 3 DOF Helicopter Experiment for MATLAB/Simulink Users. Quanser Inc.
Address: 119 Spy Court, Markham, Ontario, Canada. https://www.quanser.com/
Boukhnifer, M., Chaibet, A., & Larouci C. (2012) H-infinity robust control of 3-DOF helicopter. Proc. International Multi-conference on systems, Signals and Devices. Pages: 1-6. DOI: 10.1109/SSD.2012.6198011.
Da-Wei, G., Petko H. & Konstantinov, M. (2005) Robust Control Design with MATLAB. Second Edition. Springer Publishing Company, Incorporated. ISBN: 1852339837, 978-1-85233-983-8.
Fang, Z., Gao, W., & Zhang, L. (2012) Robust Adaptive Integral Backstepping Control of a 3-DOF Helicopter. International Journal of Advanced Robotic Systems. Vol. 9, no. 79, Pages 1-8. DOI: 10.5772/50864.
Papageorgiou, George & Glover, Keith (1999) H-infinity loop shaping - Why is it a sensible procedure for designing robust flight controllers? American Institute of Aeronautics & Astronautics.
Quanser Consulting Inc. (2012) 3 DOF Helicopter, Workbook. Instructor Version.
Raptis, A. & Valavanis, P. (2011) Linear and Nonlinear Control of Small-Scale Unmanned Helicopters. International Series on Intelligent Systems, Control and Automation: Science and Engineering. Springer. DOI: 10.1007/978-94-007-0023-
_10.
Ríos, H., Rosales, J.A., Ferreira, A. & Iriarte, R. (2009) Control robusto por salida basado en un Observador por Modos Deslizantes para un Helicóptero de 3 grados de libertad. Congreso Anual 2009 de la Asociación de México de Control Automático. Páginas 1-6.
Vázquez, E., Pérez, E., & Hernández, D. (2017) Continuous Sliding-Mode Controllers for a 3-DOF Helicopter. 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control. Pages 1-6.
Wang, X., Chen, Y., Lu, G., & Zhong Y. (2013) Robust flight control of small-scale unmanned helicopter. Proceedings 32nd Chinese Control Conference. Pages 2700-2705.
Zhou, F., Li, D., & Xia, P. (2009) Research of Fuzzy Control for Elevation Attitude of 3-DOF Helicopter. 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics. Pages 367-370. DOI: 10.1109/IHMSC.2009.100.
