Vertical Take Off and Landing (VTOL) System
Current Control Technique
The technique feeds an open-loop voltage or current to the VTOL-Trainer. The Virtual Instrument (VI) when used in current mode is shown in the figure1 below.
figure1
In this mode a current controller is used to regulate the current in the motor and the user chooses the reference current. In voltage mode shown in figure2,the voltage chosen is directly applied to the VI VTOL amplifier, which in turn drives the motor.
figure2
|
Modeling
|
|
ID#
|
Label |
Parameter |
Description
|
Unit
|
|
1
|
Position
|
θ
|
VTOL pitch position numeric display
|
deg
|
|
2
|
Current
|
Im
|
VTOL motor armature current numeric display
|
A
|
|
3
|
Voltage
|
Vm
|
VTOL motor input voltage numeric display
|
V
|
|
4
|
Signal Type
|
|
Type of signal generated for the current reference.
|
|
|
5
|
Amplitude
|
|
Current setpoint amplitude input box.
|
A
|
|
6
|
Frequency
|
|
Current setpoint frequency input box
|
Hz
|
|
7
|
Offset
|
|
Current setpoint offset input box
|
A
|
|
8
|
kp_c
|
kp,c
|
Current control proportional gain
|
Hz
|
|
9
|
ki_c
|
ki,c
|
Current control derivative gain
|
A
|
|
10
|
VTOL Offset
|
|
|
deg
|
|
11
|
Transfer Function Simulation Parameters
|
|
Transfer Function used for simulation
|
|
|
12
|
Simulation Transfer Function
|
|
Displays the Transfer Function currently being simulated
|
|
|
13
|
Order of Estimated Model
|
|
Order of Transfer Function to be Estimated
|
|
|
14
|
Estimated Transfer Function
|
|
Transfer Function Estimated
|
|
|
15
|
Sampling Rate
|
|
Selects the sampling rate
|
Hz
|
|
16
|
Device
|
|
|
|
|
17
|
Stop
|
|
Stops the Labview VI from running.
|
|
|
18
|
Pitch
|
θ
|
Scope with measured (in red) VTOL pitch position
|
deg
|
|
19
|
Current
|
Im
|
Scope with reference ( in blue) and measured (in red) current
|
A
|
Vertical Take Off and Landing (VTOL) System
Modeling
It is used for model validation and parameter identification as shown in the figure1 below. A transfer function is ran in parallel with the actual system and enables users to confirm whether their derived model is correct or not.
figure1
|
Modeling
|
|
ID#
|
Label |
Parameter |
Description
|
Unit
|
|
1
|
Position
|
θ
|
VTOL pitch position numeric display
|
deg
|
|
2
|
Current
|
Im
|
VTOL motor armature current numeric display
|
A
|
|
3
|
Voltage
|
Vm
|
VTOL motor input voltage numeric display
|
V
|
|
4
|
Signal Type
|
|
Type of signal generated for the current reference.
|
|
|
5
|
Amplitude
|
|
Current setpoint amplitude input box.
|
A
|
|
6
|
Frequency
|
|
Current setpoint frequency input box
|
Hz
|
|
7
|
Offset
|
|
Current setpoint offset input box
|
A
|
|
8
|
kp_c
|
kp,c
|
Current control proportional gain
|
Hz
|
|
9
|
ki_c
|
ki,c
|
Current control derivative gain
|
A
|
|
10
|
VTOL Offset
|
|
|
deg
|
|
11
|
Transfer Function Simulation Parameters
|
|
Transfer Function used for simulation
|
|
|
12
|
Simulation Transfer Function
|
|
Displays the Transfer Function currently being simulated
|
|
|
13
|
Order of Estimated Model
|
|
Order of Transfer Function to be Estimated
|
|
|
14
|
Estimated Transfer Function
|
|
Transfer Function Estimated
|
|
|
15
|
Sampling Rate
|
|
Selects the sampling rate
|
Hz
|
|
16
|
Device
|
|
|
|
|
17
|
Stop
|
|
Stops the Labview VI from running.
|
|
|
18
|
Pitch
|
θ
|
Scope with measured (in red) VTOL pitch position
|
deg
|
|
19
|
Current
|
Im
|
Scope with reference ( in blue) and measured (in red) current
|
|
Vertical Take Off and Landing (VTOL) System
Flight Control Technique
This system runs the PID based cascade control system to control the position of the VTOL pitch.
figure1
|
Modeling
|
|
ID#
|
Label |
Parameter |
Description
|
Unit
|
|
1
|
Position
|
θ
|
VTOL pitch position numeric display
|
deg
|
|
2
|
Current
|
Im
|
VTOL motor armature current numeric display
|
A
|
|
3
|
Voltage
|
Vm
|
VTOL motor input voltage numeric display
|
V
|
|
4
|
Signal Type
|
|
Type of signal generated for the current reference.
|
|
|
5
|
Amplitude
|
|
Current setpoint amplitude input box.
|
A
|
|
6
|
Frequency
|
|
Current setpoint frequency input box
|
Hz
|
|
7
|
Offset
|
|
Current setpoint offset input box
|
A
|
|
8
|
kp_c
|
kp,c
|
Current control proportional gain
|
Hz
|
|
9
|
ki_c
|
ki,c
|
Current control derivative gain
|
A
|
|
10
|
VTOL Offset
|
|
|
deg
|
|
11
|
Transfer Function Simulation Parameters
|
|
Transfer Function used for simulation
|
|
|
12
|
Simulation Transfer Function
|
|
Displays the Transfer Function currently being simulated
|
|
|
13
|
Order of Estimated Model
|
|
Order of Transfer Function to be Estimated
|
|
|
14
|
Estimated Transfer Function
|
|
Transfer Function Estimated
|
|
|
15
|
Sampling Rate
|
|
Selects the sampling rate
|
Hz
|
|
16
|
Device
|
|
|
|
|
17
|
Stop
|
|
Stops the Labview VI from running.
|
|
|
18
|
Pitch
|
θ
|
Scope with measured (in red) VTOL pitch position
|
deg
|
|
19
|
Current
|
Im
|
Scope with reference ( in blue) and measured (in red) current
|
A
|
