The 3 DOF Hover system is ideally suited to introduce intermediate to advanced control concepts and theories relevant to real world applications of flight dynamics and control in vertical lift off vehicles. Students learn how to:
In addition to teaching control concepts, the 3 DOF Hover can be used for research in various areas, including robust nonlinear control and adaptive control.
How It Works
The 3 DOF Hover consists of a planar round frame with four propellers. The frame is mounted on a three degrees of freedom pivot joint that enables the body to rotate about the roll, pitch and yaw axes. The propellers are driven by four DC motors that are mounted at the vertices of the frame.
The propellers generate a lift force that can be used to directly control the pitch and roll angles. The total torque generated by the propeller motors causes the body to move about the yaw axis. Two of the propellers are counter-rotating, so that the total torque in the system is balanced when the thrust of the four propellers is approximately equal.
The voltage signals going to the motors, as well as the pitch and yaw encoder signals are transmitted through a slip ring. The slip ring removes the need for wires and allows for 360 degrees free motion about the yaw axis. Furthermore, it reduces the amount of friction and loading about the moving axis.
The 3 DOF Hover comes with Quanser-developed courseware. The Laboratory Guide, together with 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.
Topics included in the Quanser-developed courseware:
To set up your 3 DOF Hover 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-X2 amplifiers