AER715 Lab 5 F2023 (1)

pdf

School

Toronto Metropolitan University *

*We aren’t endorsed by this school

Course

715

Subject

Mechanical Engineering

Date

Jan 9, 2024

Type

pdf

Pages

8

Uploaded by ElderPuppyPerson542

Report
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.
Your preview ends here
Eager to read complete document? Join bartleby learn and gain access to the full version
  • Access to all documents
  • Unlimited textbook solutions
  • 24/7 expert homework help
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.
Your preview ends here
Eager to read complete document? Join bartleby learn and gain access to the full version
  • Access to all documents
  • Unlimited textbook solutions
  • 24/7 expert homework help
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.