Control predictivo aplicado a un helicóptero a escala de doble rotor

Abstract

A predictive control model MPC controller was designed and implemented in a system that is known as Twin Rotor MIMO System is a FEEDBACK brand device. The same one that has sensors and actuators for its control. This device is related to the movement of a helicopter by the position of its blades, the main motor with vertical movements and the rear motor with horizontal movements. It consists of a pivot axis at its base in such a way that it can rotate both in the horizontal and vertical planes, taking into account the angle restrictions given by the manufacturer. At both ends of the beam it contains rotors (main and tail rotor) driven by high performance DC motors. The purpose of the research is to analyze and compare the MPC controller with a classic PID control and to demonstrate the difference in parameters and methodologies that the types of control can be analyzed. This device is special because it is a MIMO plant, this means multiple inputs - multiple outputs, this generates an analysis of the type of movements that the plant has at its crossing points, creating a cross summation between horizontal and vertical movement.