AER715 Lab 5 F2023 (1)
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AER 715 AVIONICS
AND
SYSTEMS
Laboratory 5
Flight Control – Control System Testing and Analysis
Fall 2023
Rev. 1.9
Engineering Specialist: C. Chan
Instructor: Dr. G. Liu
2
TABLE OF CONTENTS
1.
Instructions_____________________________________________________________________ 3
2.
Flight Control – Control System Testing and Analysis ____________________________________ 4
2.1
Introduction ________________________________________________________________ 4
2.2
Purpose ____________________________________________________________________ 4
2.3
Apparatus __________________________________________________________________ 4
2.4
Parameters of the 3-DOF Helicopter _____________________________________________ 5
3.
Lab Work ______________________________________________________________________ 6
3.1
Part A: Testing the Stock Controllers _____________________________________________ 6
3.2
Part B: Post Lab ______________________________________________________________ 8
3
1.
Instructions
SAFETY FIRST – DO NOT PUT YOUR FINGERS OR ANY LOOSE ITEMS IN THE
SERVOMOTOR GEARS.
This lab is to be done
in groups of two (2)
.
Download the lab manual, worksheet, and files from D2L and save them on the Desktop in a
folder called LAB5.
Read the instructions in the laboratory manual carefully and follow the specified procedures.
Answer all questions in the provided worksheet.
At the end of the lab, submit one lab worksheet along with the standard Ryerson Aerospace
Assignment/Laboratory Cover Sheet. Each student must attend the laboratory and sign the Cover
Sheet in order to receive a mark.
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4
2.
Flight Control – Control System Testing and Analysis
2.1
Introduction
In Lab 3 we developed a mathematical model for the elevation dynamics of the 3DOF Helicopter using
analytical and experimental techniques. In Labs 4.1 and 4.2, we studied controller design and simulation
for the helicopter. In this lab we take those designed controllers and test their performance on the real
helicopter. You will also compare the performance of your controllers with a stock controller.
2.2
Purpose
The objective of this lab is to test your designed controllers on the real helicopter system and evaluate their
performance against themselves and a stock controller.
2.3
Apparatus
To complete this lab, the following is required:
Quanser 3-DOF Helicopter.
Quanser UPM-2405 or VoltPAQ-X2 Power Module.
Quanser Q4 data acquisition and control board.
PC equipped with the necessary software.
5
2.4
Parameters of the 3-DOF Helicopter
The parameters of the 3-DoF helicopter are given in the following two tables:
Table 1: 3-DOF Weights and Measures
Symbol
MATLAB
Description
Unit
Value
Heli 1
Heli 2
Heli 3
Heli 4
M
h
Mh
Mass of Heli Body
[kg]
1.442
1.422
1.464
1.450
M
c
Mc
Mass of CW
[kg]
1.914
1.916
1.919
1.918
L
a
La
Distance from Pivot to
Helicopter body centre
[in]
25.75
L
b
Lb
Distance from Pivot to
counterweight centre
[in]
18.125
18.5
L
h
Lh
Distance from pitch axis to
rotor center
[in]
6.985
6.932
6.995
6.933
J
e
Je
Moment of Inertia
[kg-m
2
]
TBD
TBD
TBD
TBD
D
e
De
Viscous Damping
[N-m-s/rad]
TBD
K
e
Ke
Spring Constant
[N-m/rad]
TBD
F
t
Ft
Lift Force @ SLF
[N]
TBD
TBD
TBD
TBD
Table 2: Other Parameters and Limits of the 3-DOF Helicopter
Symbol
MATLAB
Description
Unit
Value
Heli 1
Heli 2
Heli 3
Heli 4
K
f
Kf
Motor-Prop Force
Constant
[N/V]
0.140
K
rt
Krt
Motor-Prop Torque
Constant
[N.m/V]
0.0036
0.0032
0.0038
0.0027
ε
Elevation Range
[Degrees]
[~-26 to ~30]
ε
o
Elevation Start
[Degrees]
-25.75
λ
Travel Range
[Degrees]
0 to 360
g
g
Gravity constant
[m/s
2
]
9.81
KE_CNT
Encoder Resolution
[counts/rev]
-4096
KE_RAD
Encoder Resolution
[rad/count]
1.5340E-2
K_CABLE
Amplifier Gain
[V/V]
3
5
6
3.
Lab Work
3.1
Part A: Testing the Stock Controllers
STEP
DESCRIPTION/TASK
1
Download the files for Lab 5 from D2L and put them in a Lab5 folder on your desktop.
2
Start “
MATLAB
” and change the working directory to Lab5.
3
In Part A of the lab, you will run the helicopter using the stock controller that you will use to compare
against your own developed controllers.
Open the “
Heli_Setup.m
” file and change the value of the
heli
to your specific helicopter and
V
sum
corresponding to the one from Lab 3. Also change the values of the PID gains provided to you by the
GA for the stock controller.
The stock controller gains have been tuned for the specific helicopter,
though they may not be optimal.
4
Next, open up the file “
Heli_Controller_Testing.slx
” that you edited in Lab 4.1; it should
look similar to the one shown in Figure 1 below and then change the
HIL
board# for your
specific helicopter.
Don’t forget to change the gain values. For those who are conducting this
lab remotely away from the lab, try to understand the model structure of the below diagram
and jump to
Step #8
.
Figure 1 Simulink model for controller testing
5
In order for your radian-to-angle and angle-to-radian blocks to work properly, copy the files
that you saved from Lab 4.1 into your working directory.
6
The data will be stored in the variables
stockData
and
stockVolts
in the Workspace.
The
variable
stockVolts
contains the controller voltage values for the controller gains (K
p
, K
i
, K
d
)
and
V
sum
.
Save the data to a MATLAB file.
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7
7
Change the data storage variables in the elevation data recording block (
To Workspace
) as
shown in Figure 2. Change stockData to
elevData1
and stockVolts to
elevVolts1
.
Figure 2 Variables in the Data Storage block.
Do the same for the travel data recording block (
To Workspace
) and rename the variables to
travData1
and
travVolts1
if it’s not already been done so.
8
For the virtual lab
(
Fall 2021 only
), you will be given the experimental data
elevData1
and
travData1
, which are downloadable from D2L. These data are recorded from the best
available result with the following compensator (stock) gains:
Kp = 45
Ki = 45
Kd = 28
Kpt = 98
Kit = 0
Kdt = 300
Compare the values of the gains you developed in Lab 4 with those provided above. Discuss
with your partner, whether or not your gains make sense. Then, apply the above gain values to
your simulation model in Lab 4 and compare the result with the experimental data (
elevData1
and
travData1
). What factors cause the discrepancies?
OR
For the in-person lab
this semester (
Fall 2022
), you will be given the transfer functions of
G#_elev1
and
G#_trav
written within the
Heli_Setup.m
file of Lab 5. You have to use these
functions and tune your PID compensator gains experimentally. You may use the stock gains
given above as the baseline. After you have completed the experimental work, go back and
use the provided
G#_elev1
and
G#_trav
to run your simulation model from Lab 4 again.
Apply the PID compensator gains that you have obtained here in Lab 5 to the simulation
model and observe the system response. Compare the result with the experimental data. What
factors cause the discrepancies? (Hint: the way the simulation model is constructed vs the
actual model of the helicopter control, and the limitation of SISOTOOL in compensator gains
tuning)
9
Save all the variable data to MATLAB files and e-mail them for post processing.
8
3.2
Part B: Post Lab
STEP
DESCRIPTION/TASK
1
In a
new
script, type the following:
%---------------------------------------------
% AER 715 Introduction to Avionics and Systems
% Lab 5 – “Lab Title”
% Your Full Name(s) & SID(s)
%---------------------------------------------
%
%% Introduction
%
Type your introduction in this section
%
%% Post Lab Exercises –
%
Put your exercises in this section
%
%% Conclusion
%
Write your lab conclusion for the WHOLE lab in this
%
section.
%
2
Create a new section called Question 1 using the %% command.
Create a comparison plot of the elevation data (
simulation result from Lab 4 with your best-
tuned compensator gains vs simulation result from Lab 4 with the stock compensator gains
vs experimental result here
).
Use only the first 20 seconds of data.
Also display the controller
gain values in the script for each case.
Compare and discuss the performance.
3
Repeat Step 2 for the data you collected from the travel test.
Use only the data between 25 second to 40 seconds marks.
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- Problem Statement A heat engine draws 14 kW of heat from a reservoir at 900 K. The work it produces drives a refrigerator which produces a refrigeration capacity of 12 kW. Both devices reject heat to a reservoir at 300 K. What is the lowest possible temperature of the space cooled by the refrigerator? Answer Table Correct Stage Description Your Answer Answer * 1 Lowest temperature of cold space (K) Due Date Grade (%) Part Weight Attempt Action/Message Type Nov 7, 2024 11:59 pm 0.0 1 1/5 Submitarrow_forwardBETC الية التقنية الهندسية المر اسم الطالب. 01: Southern Technical University Engineering Technical College/Basra Department of Thermal Mechanical Eng. Exam of Final Year (2023-2024)-1 Attempt Class: Fourth Year Subject: Power Plants Time: 3 Hour Date: //2024 Note: No need for any table or chart, 40% Full marks (13Marks) Consider a combined gas and steam turbine power plant with the following specifications. Determine: GT plant power (MW). ST plant power (MW), and the thermal efficiency of the combined cycle, Compressor(1-2): Combustion Chamber(2-3) Gas Turbine: (3-4) TRA mair = 104.23- T₁ = 27°C Power 30MW = Misc = 100% Steam Cycle(6-7-8-9): hg=3207kJ/kg Ts = 400°C kg mis.t = 100% kl S = Qin 717.178- kg HRB(4-5): T=450K 02: ha 2066.4kJ/kg he = 151.5kJ/kg Pcon 6kPa; Pboiler = 45bar (9 Marks) A steam power plant of 4075 kW capacity consumes 8 kg/kWh of steam. The steam at 39°C and 0.9 dryne fraction enters into the condenser. The vacuum reading is 68.65 cmlig when the barometer reads 76…arrow_forwardSUBJECT: Industrial Safety Engineering Do not use chatgpt and draw in handwritten note Draw decision tree for following machines I. Any one machine tool Pump II. Air compressor III. Internal combustion engine IV. Boiler V. Electrical motors.arrow_forward
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