The 2 DOF Helicopter system is a simplified helicopter model, ideally suited to introduce intermediate to advanced control concepts and theories relevant to real world applications of flight dynamics and control in the rigid body helicopters, spacecraft or underwater vessels. Students learn how to:
In addition to teaching control concepts, the 2 DOF Helicopter can be used for research in various areas, including adaptive control and system identification.
How It Works
The 2 DOF Helicopter consists of a model helicopter body and a metal base. The helicopter has two propellers mounted perpendicularly to each other, both are actuated by DC motors. This emulates the common helicopter configuration with a main rotor and anti-torque tail rotor. The front propeller controls the pitch axis - rotating the center of the body about the horizontal (i.e. front propeller goes up and down). The back propeller controls the yaw axis - the angle about the vertical base. Both axes are measured using high-resolution encoders. The slip ring mechanism on the vertical axis allows the body to freely rotate about the yaw angle, by eliminating the need for any wires to connect the motors and encoders to the base. The inherent torque effect from the front propeller causes the body to rotate and must be compensated by the tail rotor, just like in full-sized helicopters, which can make for interesting modeling and control challenges.
The 2 DOF Helicopter comes with Quanser-developed courseware. The Laboratory Guide, together with quick start resources, a comprehensive User Manual, pre-designed controllers and system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.
¹ These parameters were identified experimentally and will be different on each system
Topics included in the Quanser-developed courseware:
To set up your 2 DOF Helicopter workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use Q8-USB, QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use two VoltPAQ-X1 amplifiers
³ NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 chassis
4 NI DAQ device must be supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q2-USB, Q8-USB, or QPIDe