Modelagem e controle LVP de um helicóptero com 6DOF

Abstract

This work seeks to produce, with the aid of matrix inequalities, a stability control for a six degree of freedom nonlinear helicopter model. The objective is to define a gain capable of ensuring model stability and reducing disturbance regardless of the condition in which the aircraft is involved. A study is performed around the linearized equilibrium conditions for the Lynx ZD559 model, in which the independent controlled variable is the speed ahead of the aircraft. The tests obtained from a stationary controller and one with linear variation aim to elucidate their ability, and especially related to the last controller, to act on the full spectrum of velocity variation by presenting an acceptable transient dynamics and disturbance rejection. The results indicate that under more restricted operating conditions, the linear control of variable parameters was the only one capable of stabilizing the plant in the established limits, besides presenting a favorable transient across the speed spectrum when compared to the other control techniques.