PendCon Basic: The Helicopter Experiment
Altitude Control for a Helicopter
Rate control and position control
in one experiment:
An example of a cascade of controllers
Main features: Nonlinear plant
The dynamics of the motor and the propeller has to be found by identification.
Linearized system: Essentially a series combination of a PT1 system and a double integrator.
Controller:
A Cascade of a PI controller for the rate (inner loop) and a PID controller for the position (outer loop).The controller design is possible by the application of simple formulas.