Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Attitude controller design and implementation for a helicopter propeller setup using a robust multivariable control

견실한 다변수 제어에 의한 모형 헬리콥터의 자세제어기 설계및 실현

  • Lee, Seung-Guk ;
  • Lee, Myeong-Ui (Dept. of Information Communication Engineering, Korea University of Technology and Education) ;
  • Gwon, O-Gyu (Dept.of Electronics Electric Computer Engineering, Inha University)
  • 이승국 (한국 휴렛팩커드) ;
  • 이명의 (한국기술교육대학교 정보통신공학과) ;
  • 권오규 (인하대학교 전자.전기.컴퓨터 공학부)
  • Published : 1998.02.01
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Abstract

This paper deals with the implementation of a robust multivariable controller using DSP board and the application to real systems. The LQG/LTR (Linear Quadratic Gaussian with Loop Transfer Recovery) controller proposed by Doyle et al.[1,2] is adopted to design the control system. A helicopter propeller setup is taken as the controlled system in the current paper, and the mathematical model is derived to design the multivariable controller. The performance of the controller is evaluated via simulations, and implementation and application to the MIMO system shows that the control performances are satisfactory and superior to those of the PID controller.

Keywords

References

  1. IEEE Trans. Automatic Control v.AC-26 Multivariable feedback design: concepts for a classical/modern synthesis J. C. Doyle;G. Stein
  2. IEEE Trans. Automatic Control v.AC-32 The LQG/LTR procedure for multivariable feedback control design M. Athans;G. Stein
  3. 선형 제어시스템 공학 김종식
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  5. Helicopter Performance, Stability, and Control R. W. Prouty
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  13. 한국 항공우주학회지 v.19 δ-변환에 의한 발사체의 디지털 자동 조종장치 설계 이명의;권오규