Beta 1

Title Construction of a Four Rotor Helicopter Control System
Author Buchholz, Thórhallur Tómas
Gretarsson, Dagur
Supervisor Hendricks, Elbert (Automation and Control, Department of Electrical Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2009
Abstract This report presents the construction of a four rotor helicopter control system. A nonlinear dynamic model of a custom built four rotor helicopter is presented. This model is linearized in order to serve as basis for the design of a LQ regulator. The LQ regulator is realized using a microprocessor based flight controller mounted on the custom built four rotor helicopter. The flight controller runs a flight routine designed to work as a stability augmented control system for a pilot. Flight tests suggest that the stabilizing LQ regulator works properly. The nonlinear model has also been partly validated, but further improvements of the code for the flight controller are needed in order to confirm this in detail.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Pages 157
Original PDF Thesis_dagur.pdf (3.19 MB)
Admin Creation date: 2009-05-18    Update date: 2009-11-04    Source: dtu    ID: 243342    Original MXD