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Quanser |
3 DOF Hover
Challenge:
Design a control system to control the roll, pitch
and yaw of a 3 DOF "Hover"
Description:
An excellent and innovative Laboratory system designed
for the study of behavior of vertical lift off vehicles without actually
flying !! Three DC motors are mounted at the vertices of a planar round
frame and drive four propellers. The frame is gimbaled on three orthogonal
instrumented axes and is free to roll, pitch and yaw. The propellers
generate a lift force that can be used to directly control the pitch
and roll angles. The motors' axes are parallel and the thrust vectors
are normal to the frame. The gimbal is mounted on a vertical base equipped
with a nine-contact slipring. Opposing propellers in the system are
counter-rotating such that the total torque in the system is balanced
. Electrical signals to and from the Hover are channeled through the
slipring thus eliminating tangled wires and allowing for unlimited
and unhindered yaw. The three rotations are measured using optical
encoders.
The system is supplied with an LQR controller. You may implement any
controller you wish.
Difficulty:
Undergraduate project / Graduate / Research
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