PERFORMANCE ANALYSIS OF TWO DOF OF HELICOPTER MODEL USING PID AND FUZZY CONTROL

Abstract

The main objective of this thesis is the modelling and controlling of two DOF helicopter system. A Two Degree of Freedom Helicopter model has the two degree of freedoms namely pitch angle and yaw angle. The pitch angle is the vertical angle and this movement helps the helicopter to move in forward or backward direction on the other hand yaw angle is the horizontal angle and the movement in this direction helps in turning the direction of the helicopter. The controllers studied and implemented on the two DOF setup of helicopter are Linear Quadratic Regulator (LQR), Proportional–Integral-Differential (PID) and Fuzzy Logic Controller (FLC). The main motive of the controlling is to stabilize the position of the controller at the set points which are given as input to the system, all the controllers are implemented and the tuning of the parameters is done to obtain the suitable results. For FLC control the rule base is created and implemented. The designing and implementation of the controllers are done on the simulink MATLAB platform, which is connected to the real time system by interfacing devices. The results are obtained for both the non linear model of the system and the real time system and the controlling algorithms are tested on software and hardware. A comparative study is carried out to find out the performance of the controllers on the non linear model as well as on the real time system of two DOF helicopter system and finally the conclusion is drawn based on the analysis of the results obtained for all the controllers with two output parameters namely, pitch angle and yaw angle.