QNET VTOL Trainer

Project 2

By Fadzli,John & Zoubair

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CURRENTCONTROL

FIGHT CONTROL

MODELING

RESULTS

Current Control

LAB Section Name Slide No.

1. Finding resistance 3

2.Qualitative Current Control

6

3.Current Control Design

8

4. Result 7

• Current Control off

• Vary Voltage 4 to 8v

• Find the current & resistance

Ohm’s Law

Finding A & OHm

Current

R = 4 / 1.6

R = 2..5 ohm

• Current Control off

• Vary Voltage 4 to 8v

• Find the current & resistance

Measurement Graphs tab

find the steady-state gain and the time

constant

Finding A & OHm

R = 5 / 1.9

R = 2.63 ohm

• Current Control off

• Vary Voltage 4 to 8v

• Find the current & resistance

Measurement Graphs tab

find the steady-state gain and the time

constant

Finding A & OHm

R = 6 / 2.3

R = 2.61 ohm

• Current Control off

• Vary Voltage 4 to 8v

• Find the current & resistance

Measurement Graphs tab

find the steady-state gain and the time

constant

Finding A & OHm

R = 7 / 2.8

R = 2.5 ohm

• Current Control off

• Vary Voltage 4 to 8v

• Find the current & resistance

Measurement Graphs tab

find the steady-state gain and the time

constant

Finding A & OHm

R = 8 / 3.2

R = 2.5 ohm

Lab 2: Qualitative Current Control

• Amplitude = 0.20 A

• Frequency = 0.40 Hz

• Offset = 0.90 A

• kp;c = 0.250

• ki;c = 10

Lab 2: Qualitative Current Control

• kp;c = 0.250

• ki;c = 10

*• kp; c = 0

• ki; c = 100

Calculate the PI gains, kp and ki

• Wn = 42.5 rad/s

• ç = 0.70

Lab 3: Current Control Design

Lm = 53.8 mH

Kp = 0.65

ki = 47.17

• Amplitude = 0.20 A

• Frequency = 0.40 Hz

• Offset = 0.90 A

enter Ki & Kp found previously

Model validation

Parameter Value Units

Rm 2.5 Ohm

Lm 53.8 mH

Wn 42.5 rad/s

kp;c 0.65 V/A

ki;c 97.176 V/(A s)

MODELLING

LAB Section Name Slide No.

1.Measure the Equilibrium

Current 9

2. Find Natural Frequency 11

3. Model Validation 15

4. Using the System Identification Tool 16

5. Result 17

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.40 Hz

• Offset = 1.00 A

Gradually increase the offset current

until the VTOL Trainer is horizontal.

Lab 1: Measure the Equilibrium

Current

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.40 Hz

• Offset = 1.00 A

Gradually increase the offset current

until the VTOL Trainer is horizontal.

Lab 1: Measure the

Equilibrium

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.40 Hz

• Offset = 1.00 A

Gradually increase the offset current

until the VTOL Trainer is horizontal.

Lab 1: Measure the

Equilibrium

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.40 Hz

• Offset = 1.00 A

Gradually increase the offset current

until the VTOL Trainer is horizontal.

Lab 1: Measure the

Equilibrium

Lab 2: Find Natural

Frequency

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.40 Hz

• Offset = Ieq = 1.10

Current Control ON

Pi found previously

• Amplitude = 0.00 A

• Frequency = 0.20 Hz

• Offset = Ieq = 1.10

Amplitude =0.10 A

Lab 3: Model Validation

• Amplitude = 0.10 A

• Frequency = 0.20 Hz

• Offset = Ieq = 1.10

Enter the identified transfer function.

Lab 4: Using the System

Identification Tool

• Amplitude = 0.10 A

• Frequency = 0.20 Hz

• Offset = Ieq = 1.10

Enter the identified transfer function.

Lab 4: Using the System

Identification Tool

Description Symbol Value Unit

MODELLING

Equilibrium current Ieq 1.08 A

Torque thrust constant Kt .0209 (N m)/A

Moment of inertia J 0.0035 kg m2

Viscous damping B 0.002 (N m s)/rad

Natural frequency Wn 3.14 rad

Stiffness K 0.0345 (N m)/rad

Sys ID: Torque-thrust constant Kt 0.0196 (N m)/A

Sys ID: Viscous damping Bid 0.01 (N m s)/rad

Sys ID: Stiffness Kid 0.0343 (N m)/rad

FIGHT CONTROL

LAB Section Name Slide No.

1. PD Steady-State Analysis 19

2.PID Steady-State Error

Analysis 11

3. PID Control Design 15

4. Result 16

Calculate the theoretical VTOL Trainer steady-state error when

using a PD control with kp = 2 and kd = 1 and

a step amplitude of R0 = 4.0 degrees.

Lab 1: PD Steady-State

Analysis

Ess = 1.556 R0 = 4

J = 0.0035

b = 0.002

K = 0.0345

Ki = 0

• Amplitude = 0.0 deg

• Frequency = 0.15 Hz

• Offset = 0.0 deg

• kp = 1.0 A/rad

• ki = 2 A/(rads)

• kd = 1.0 As/rad

Lab 1: PD Steady-State Analysis

• kp = 2.0 A/rad

• ki = 0 A/(rad.s)

• kd = 1.0 A.s/rad

• Amplitude = 2.0 deg

• Frequency = 0.40 Hz

• Offset = 2.0 deg

Lab 1: PD Steady-State

Analysis

increment the integral gain until you reach ki = 4.0 A/(rads).

Lab 1: PD Steady-State

Analysis

increment the integral gain until you reach ki = 4.0 A/(rads).

Lab 2: PID Steady-State

Error

Analysis

increment the integral gain until you reach ki = 4.0 A/(rads).

Lab 2: PID Steady-State Error

Analysis

increment the integral gain until you reach ki = 4.0 A/(rads).

Lab 2: PID Steady-State Error

Analysis

increment the integral gain until you reach ki = 4.0 A/(rads).

Lab 2: PID Steady-State Error

Analysis

• Amplitude = 0.0 deg

• Frequency = 0.15 Hz

• Offset = 0.0 deg

enter the PID gains found in Section

4.5.1.

Lab 3: PID Control Design

• Amplitude = 2.0 deg

• Frequency = 0.40 Hz

• Offset = 2.0 deg

Lab 3: PID Control Design

set Amplitude (rad) to 0 rad and slowly decrement Offset

(rad) to -8.0 rad.

Lab 3: PID Control Design

set Amplitude (rad) to 0 rad and slowly decrement Offset

(rad) to -8.0 rad.

Lab 3: PID Control Design

set Amplitude (rad) to 0 rad and slowly decrement Offset

(rad) to -8.0 rad.

Lab 3: PID Control Design

SUMMARY

Concepts learned in the Vtol Trainer

✓ Current control

✓ Modelling & Validation

✓ PID

✓ Steady state analysis