Logic controller of 3-DOF helicopter

YU Chun-hai， PAN Feng
（Key Laboratory of Advanced Process Control for Light Industry， Ministry of Education， Jiangnan University，
Wuxi 214122， China）

Abstract： Aiming at location tracking of 3-DOF（degree of freedom）helicopter model system which is a typical high-level，unstable，multi-variable，non-linear system，a more complex method was used to control the system in order to obtain satisfactory effect，such as linear quadratic requlator（LQR） control. But an accurate model that affecting the control effect directly was required. In order to obtain satisfactory control programme of the model system， a logical controller which could calculate the proper output amount according to the current error and the change of the error was used without establishing the system modeling. Besides，differential feedback was added to suppress the overshoot caused by the time delay. The results indicate that the method which has shorter adjustment time，almost no overshoot is better than LQR control method obviously. Semi physical simulation also shows the feasibility of the method.
Key words： 3-DOF（degree of freedom） helicopter； logic control； differential feedback； linear quadratic requlator（LQR）