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Two DC motors are mounted at the two ends of a rectangular frame and drive two propellers. The motors are mounted at 90 degrees such that one causes pitch and the other causes yaw of the helicopter. The helicopter frame is free to rotate on a vertical base equipped with an eight-contact slipring. Electrical signals to and from the helicopter are channeled through the slipring to eliminate tangled wires, reduce friction and allow for unlimited and unhindered yaw. The coupling between the pitch and yaw motor torques results in a coupled 2 input-2 output system.
The system is supplied with an LQR controller. You may implement any controller you wish.
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