The 3 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 tandem rotor helicopters, or any device with similar dynamics. Students learn how to:
In addition to teaching control concepts, the 3 DOF Helicopter can be used for research in various areas, including adaptive control, nonlinear control, optimal control, predictive control, fault detection and system identification.
How It Works
The 3 DOF Helicopter consists of a model helicopter body, a metal base, and an aluminum frame. The helicopter has two propellers mounted in parallel, actuated by DC motors - similarly to tandem dual rotor helicopters.
The helicopter body is suspended from an instrumented joint that is mounted at the end of a long arm and is free to pitch about its centre. The other end of the arm is fastened to the base using a two degree of freedom joint. This allows the arm, and thus the helicopter, to be rotated about the vertical axis - the travel axis - as well as up and down - the elevation axis. The other end of the arm has an adjustable counterweight that changes the effective mass of the helicopter system - making it light enough to be lifted by the thrust from the propellers. All axes are measured using high-resolution encoders to obtain precise position feedback. The slip ring mechanism on the vertical axis allows the body to rotate continuously by eliminating the need for any wires to connect the motors and encoders to the base. The front and back propellers control the movement of the helicopter.
The 3 DOF Helicopter comes with Quanser-developed courseware. The Laboratory Guide, together with quick start resources, a comprehensive User Manual, pre-designed controllers and a 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 3 DOF Helicopter workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use 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 or cRIO-9114 chassis
4 NI PCIe-6351 or other NI DAQ device with 4 encoders supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q8-USB, or QPIDe