LAB REPORT LAB

#11

Objectives:

 To create an open-loop mathematical model of the system for flight control operation, using
the free body diagram.
 To calculate the unknown parameters in the model.
 To Design and Validate the model with the hardware prototype available in the lab using
LabVIEW.
 Familiarization with VTOL.

Lab Task:

Task 1:

Make sure that the VTOL counter-weight is places as far from the propeller assembly as possible
without lifting the propeller itself. The base of the propeller assembly should reset lightly on the
surface of the QNET board.
In the Current Control Parameters section, set the PI current gains found in previous lab.
In the Current Set point section, set:
 Amplitude = 0.00 A
 Frequency = 0.40 Hz
 Offset = 1.00 A
The current required to make the VTOL Trainer horizontal is called the equilibrium current, 𝐼𝑒𝑞.
Capture the pitch and current response and record this current. Note down this value here.

Graphs:

Fig.1 Current response and pitch angle

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Results:

The equilibrium current Ieq = 1.31A was measured in lab by performing the experiment as shown in
Figure 1. The above figure represents pitch angle and current response when the VTOL Trainer is
horizontal, i.e. at equilibrium.

Task 2:

Place the VTOL counter weight as far from the propeller assembly as possible without lifting the
propeller itself. The base of the propeller assembly should rest lightly on the surface of the QNET
board.
In the Current Control parameters, set the PI current gains found in previous. In the current set point
section, set:
 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.00 𝐴
 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.40 𝐻𝑧
 𝑂𝑓𝑓𝑠𝑒𝑡=𝐼𝑒𝑞=1.31A

When the VI starts and the equilibrium current step is applied, the VTOL Trainer will shoot upward
quickly and then oscillate about its horizontal. Capture this response and measure the natural
frequency. Note down this value here

Graphs:

Fig.2 Current response and pitch angle at Ieq.=1.2

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Results:

T=5.4 sec ; f=0.185Hz

ꞷn =(1/T)(No. of cycles *2π)

ꞷn = 3.5 rad/sec.

Task 3:
(a):

Using the VTOL Trainer Model and the specifications enlisted in Table below, compute the moment
of inertia acting about the pitch axis.

J=m1(l1)2 + (¼) mh(lh)2+ m2(l2)2

J=0.00348 kgm2

Calculate the thrust current-torque constant 𝐾𝑡.

Kt= (1/2)*g*(-2m2l2 + 2m1l1 + mhlh)/(Ieq)

Kt = 0.0188 (Nm)/A

Based on the natural frequency found and the moment of inertia calculated above, find the stiffness of
the VTOL Trainer.

K= ꞷn2*J

K=0.04263(Nm)/rad.

Compute the VTOL Trainer Transfer Function based on the previously found parameters: 𝐾𝑡,𝐽,𝐵,𝑎𝑛𝑑
𝐾.

𝑃(𝑠) = 𝐾𝑡 / 𝐽(𝑠2+𝐵𝐽𝑠+𝐾𝐽)
𝑃(𝑠) = 5.40 / (𝑠2+0.574+8.132)
(b):

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In the Current Control parameters, set the PI current gains found in previous Lab.
In the current set point section, set:

 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.00 𝐴
 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.20 𝐻𝑧
 𝑂𝑓𝑓𝑠𝑒𝑡=𝐼𝑒𝑞 =1.31A

In the Current set point section set

 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.10 𝐴

In the Transfer Function Simulation Parameters section, enter the parameters computed in above
section. Is the simulation matching the measured signal? Capture the response.

Graphs:

Fig.3 Measured and simulated current and pitch response

Results:

The simulated response is from the entered transfer function, and the other trace is the measured pitch
angle from the VTOL Trainer. They are not aligned exactly because the VTOL device cannot be
initialized at exactly 0 degrees pitch. However, they do match quite well when looking at the rate of
increase and decrease.

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Task 4:

In the current set point section, set:

 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.10 𝐴
 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.20 𝐻𝑧
 𝑂𝑓𝑓𝑠𝑒𝑡=1.2A (equilibrium current found in above section)

Which should perturb the VTOL Trainer is about its horizontal equilibrium point with a current
amplitude of ± 0.10 A. The Estimated Transfer Function displays a newly identified transfer function
VTOL system based on the 20 seconds of current (i.e. stimulus signal) and pitch angle (i.e. response
signal) data. Enter the identified transfer function below.

Graphs:

Fig.4 Measured and simulated current and pitch response

Results:

The transfer function estimated by System identification tool is

𝑃(𝑠) = 0.3889 / (0.0756 𝑠2 + 0.1152 s + 1)

Assume the moment of inertia is as calculated in above section. Then from the identified transfer
function, find the stiffness(𝐾𝑖𝑑), the viscous damping(𝐵𝑖𝑑), and the current-torque constant(𝐾𝑡,𝑖𝑑).
Note these values in Table 11.3. How do they compare with the parameters you estimated
manually?

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Parameters Symbol Value Units

Equilibrium Current 𝐼𝑒𝑞 1.31 𝐴
Torque Thrust Constant 𝐾𝑡 0.0188 (𝑁.𝑚)/𝐴
Moment of Inertia 𝐽 0.00348 𝐾𝑔.𝑚2
Viscous Damping 𝐵 0.002 (𝑁.𝑚.𝑠)/𝑟𝑎𝑑
Natural Frequency ⍵𝑛 3.5 𝑟𝑎𝑑/sec
Stiffness 𝐾 0.04263 (𝑁.𝑚)/𝑟𝑎𝑑
Sys ID: Torque Thrust Constant 𝐾𝑡,𝑖𝑑 0.0179 (𝑁.𝑚)/𝐴
Sys ID: Viscous Damping 𝐵𝑖𝑑 0.053 (𝑁.𝑚.𝑠)/𝑟𝑎𝑑
Sys ID: Stiffness 𝐾𝑖𝑑 0.0459 (𝑁.𝑚)/𝑟𝑎𝑑

Post Lab Task:

Task2:

Describe the major difference between VTOL setup and an actual helicopter in terms of
degree of freedom. Does the system provide good realization of helicopter?

Answer:

The major difference between VTOL and an actual helicopter is the degree of freedom. The
VTOL setup provide one degree of freedom but helicopter has more degree of freedom due to
complex dynamic system and having more rotors that rotor and move the helicopter in
different directions. System provide good realization of helicopter in one direction with one
rotor to understand its mechanics.

Conclusion:

In this lab,we learned how to familiarize with QNET VTOL (Vertical Take-Off and Landing) trainer.
The flight control operations on QNET VTOL was implemented using LABVIEW. Lab also helped to
learn about open-loop mathematical model of the system for flight control operation, using free body
diagram and how to design it in VTOL. With the help equilibrium current, natural frequency of a
system was calculated. The transfer function of the current to position dynamics of VTOL trainer was
calculated and estimated transfer function was observed using system identification tool.

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