• Libraries
    • Log in to:
    View Item 
    •   MSpace Home
    • Faculty of Graduate Studies (Electronic Theses and Practica)
    • FGS - Electronic Theses and Practica
    • View Item
    •   MSpace Home
    • Faculty of Graduate Studies (Electronic Theses and Practica)
    • FGS - Electronic Theses and Practica
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Vertical Control of Unmanned Helicopter During Payload Drop

    Thumbnail
    View/Open
    Raol_Divyarajsinh.pdf (3.543Mb)
    Date
    2015-02-27
    Author
    Raol, Divyarajsinh
    Metadata
    Show full item record
    Abstract
    Unmanned helicopters in recent years have gained much attention due to their potential in both civil as well as military applications. Helicopter is an inherently unstable system. As a result there is a growing need of developing a control structure that allows the helicopter to perform various applications while remaining stable throughout the flight. This thesis presents developments of a robust controller for the vertical channel of an unmanned helicopter while carrying and dropping a payload. In addition, a simulation platform is developed in Simulink that uses a nonlinear six degree of freedom helicopter model. Quantitative Feedback Theory, a frequency domain technique, is used to design a controller that meets specific performance criteria when uncertainties associated with different payload weights exist in the system. The controller performance is examined in simulation for an Xcell 60 helicopter for effective lifting and dropping of up to 10 lb payload. The performance is then compared with a traditional Proportional-Integral-Derivative controller. Further, the effect of actuator dynamics on the controller performance is also evaluated. Finally, a controller that is robust in minimizing the effect of actuator dynamics and the payload drop while keeping the helicopter stable in flight is designed.
    URI
    http://hdl.handle.net/1993/30285
    Collections
    • FGS - Electronic Theses and Practica [25494]

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV
     

     

    Browse

    All of MSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    Login

    Statistics

    View Usage Statistics

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV