||Construction of a Four Rotor Helicopter Control System
||Buchholz, Thórhallur Tómas
||Hendricks, Elbert (Automation and Control, Department of Electrical Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
||Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
||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
||Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Creation date: 2009-05-18
Update date: 2009-11-04