Design Approach For Pitch Axis Stabilization of 3-Dof Helicopter System an LQR Controller
|M.Bharathi, Golden Kumar
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In this project an attempt has been made to adopt an LQR controller design approach for PITCH axis stabilization of 3DOF Helicopter System. The presentation in this report is not limited to only design a controller for the stabilization of PITCH axis model of 3DOF Helicopter but at same time it shows good performance. Some useful basic control systems concept related to Riccaati equation, controllability of the system and PID controller have been also presented to understand the content of the project. The report first develops a transfer function and state space model to represent the PITCH axis dynamics of 3DOF Helicopter system and then LQR controller design steps are explained in brief. The investigated state feedback controller design technique is an optimal design method and it is directly applicable to unstable pitch axis model of 3DOF Helicopter. To show the effectiveness of the investigated method, the report also demonstrates the comparative studies between LQR and PID controllers. The results of the closed loop system performance with LQR controller and PID controller separately are also shown.