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Research on Fuzzy-PID Control Method of Three-DOF Helicopter Model

Author: HuangZuo
Tutor: WuJunFeng
School: Harbin University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: 3-DOF helicopter PID control fuzzy-PID control real-time control
CLC: V249.1
Type: Master's thesis
Year: 2014
Downloads: 13
Quote: 0
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With the appearance and development of new technology and new process,helicopter has the extremely widespread application in both military and civilianaspects. The upgrading of the helicopter is becoming more and more frequent aswell. However, it has very complicated dynamic characteristics and changefulflight attitude. So it’s often difficult to be described by accurate mathematicalmodel. The3-DOF helicopter adopted in this paper is produced by GoogolTechnology. This model is a good experiment platform in many fields, such as:automatic control, aircraft, artificial intelligence and so on. Therefore, the studyon its mathematical model and control method has a high commercial value andresearch value.The3-DOF helicopter system is high order, nonlinear, strong coupling, etc.In order to make the design of the controller more effective, the following workhas been done in this paper. Firstly, the structure and composition of the3-DOFhelicopter system is analyzed. The approximate mathematical model of thesystem is set up by Newtonian mechanics analysis according to movementcharacteristics of the three degrees of freedom. The dynamic system principle ofthe controlled object is analyzed through the established mathematical model.Through the analysis of system performance, the necessity of controller design isgiven. Secondly, the conventional PID controller is designed to control the3-DOF helicopter by PID control method. The Simulink simulation model is set upand the simulation analysis is made. Finally, because the PID controller is notwell reflect the dynamic performance of the controlled object, accuracy androbustness of the PID controller is not high. So the fuzzy PID controller is usedin this article. The fuzzy PID controller has the characteristics of simplicity,flexibility and robustness. The new Simulink simulation model is set up and is used in real-time control of3-DOF helicopter model. The experimental result ofthe fuzzy PID controller is compared with that of the PID controller.The experimental results show that: The dynamic performance of the FuzzyPID controller is better than that of the PID controller, and the overshoot volumeis also far less than that of the conventional PID controller. This method canachieve the real-time control of the3-DOF helicopter model, its system structureis reasonable. It can meet the requirements of real-time and reliability.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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