Modelling, controller design and implementation of a small-scale 3DOF helicopter using labVIEW and STM32F4xx microcontroller

Abstract

The 3DOF is a non-linear underactuated system. It is inspired from the Quanser 3DOF helicopter, however, the materials used and the dimensions as well as the motors are different therefore a model has to be define dan dimprove dfro mpreviou sworks . The 3DOF small-scale helicopter is a map of a real CHINOOK helicopter. The aim of this work is to create a platform for testing and deploying the different controllers as it will serve as an educational and research platform. Both linear and nonlinear system identification techniques were used to derive a model. The nonlinear model was linearized around the region of operation and then an LQR controller was designed. The redundancies such as the ADC for generating the control action were removed to reduce delay times and hardware costs. The previous students utilized the NI DAQ 6221 M series for system identificatio nan ddurin gth erunnin go fth econtroller .I nou rcase ,th eN IDA Qwa sused solely for identificatio na si tfacilitate sth eimplementation ,verificatio n,visualizatio n,and logging. while the STM32F4 microcontroller was used for data acquisition during control operation. Introducing the STM32 removed the shortage of hardware counters. An LQR controller was designed, tuned, and tested. Finally, a GUI for logging the data in order to evaluate the performance of the controlled process was designed.