Diseño de un controlador LQG para un helicóptero de tres grados de libertad

Autores/as

  • Hernando González Acevedo UNIVERSIDAD AUTÓNOMA DE BUCARAMANGA
  • Yosman Alexis Guerrero Gómez Universidad Autónoma de Bucaramanga

DOI:

https://doi.org/10.33571/rpolitec.v15n28a5

Palabras clave:

Helicóptero 3 DOF, Linealización, Control LQG, Control digital

Resumen

El artículo presenta el diseño de un controlador lineal cuadrático gaussiano (LQG) para regular los ángulos de elevación, cabeceo y viaje de un prototipo de un helicóptero de tres grados de libertad (3 DOF). El controlador LQG se ajusta en base del modelo matemático no lineal y se evalúa la respuesta transitoria del sistema en lazo cerrado para diferentes valores de la señal de referencia, ajustando los parámetros del controlador con el objetivo de estabilizar el sistema, disminuir el sobrepaso y el tiempo de establecimiento. La validación experimental de la estrategia de control se realiza sobre un prototipo construido por los autores, la respuesta transitoria de los datos simulados se compara con los datos experimentales, para los tres grados de libertad del helicóptero, observando que el modelo matemático se ajusta a la dinámica del prototipo y se cumplen las condiciones de diseño.

This paper presents the design of a linear quadratic gaussian (LQG) controller to regulate the pitch, elevation and travel angles of a helicopter with three degrees of freedom (3 DOF). The LQG controller was designed on the basis of a linear model and the regulator parameters were adjusted based on the simulations performed with the non-linear model, evaluating the transient response of the system in the closed loop for different values of the reference signal, guaranteeing obtain the greatest variation of the angles around the equilibrium point. The experimental validation was done using a prototype built by the authors; the transient response of the simulated data was compared against the experimental data, for the three degrees of freedom of the helicopter, observing that the mathematical model adjusts to the dynamic of the prototype and the conditions of design were fulfilled.

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Biografía del autor/a

Hernando González Acevedo, UNIVERSIDAD AUTÓNOMA DE BUCARAMANGA

Yosman Alexis Guerrero Gómez, Universidad Autónoma de Bucaramanga

Citas

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Publicado

2019-06-25

Cómo citar

González Acevedo, H., & Guerrero Gómez, Y. A. (2019). Diseño de un controlador LQG para un helicóptero de tres grados de libertad. Revista Politécnica, 15(28), 54–62. https://doi.org/10.33571/rpolitec.v15n28a5

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Artículos