Projeto de controladores via LMI aplicado a um helicóptero 2DOF

Abstract

To develop a control application with special characteristics, in this project, it was decided to build a low-cost Didactic Plant. The case study in question is a 2-DOF (two degree of freedom) fixed-base helicopter, which aims to obtain a test platform for teaching and research. Considering that this type of system has a non-linear, multivariable, and unstable characteristic, ideal for the application of Robust Control via Linear Matrix Inequalities (LMI's), where necessary and sufficient conditions are presented for the asymptotic stability of the system, using state feedback combined with integral action to provide a response with transient performance and zero residual error in steady state. Also, serving as didactic support for control discipline. This platform allows simulations with the selection of other control strategies, with the possibility of validating the controller gain, facilitating the integration of theory with practice in the study of control systems. The physical structure was built with polymeric materials such as: Teflon and Acrylic. The parts are designed in CAD (Computer aided design) with the respective manufacture through the process of machining and 3D printing. The project was divided and documented in two main stages, ranging from manufacturing to the implementation of an embedded system. The first phase recorded the physical assembly and parameterization of the mathematical model, and the second phase was responsible for carrying out tests and virtual simulations to obtain the controller and, subsequently, to effectively embed the control loop on the physical platform.