Brief Characteristic of Model

• multidimensional unstable system with three control inputs and two measured outputs
• suitable for studyig and experiments regarding to Dynamic System Control Theory
• hardware and software support for identification and control in real time
• can be used in control by Matlab on the basis of Real-Time Toolbox
• libraries in C language and demo software package for PID algorithms control

Gallery

Mechanical realization

• The model is composed of a body with two propellers, which have their axes perpendicular and are driven by small DC motors; i.e. the helicopter model constitutes a system with two degrees of freedom.
• The movement in the direction of axis y (elevation = output y1) presents the first degree of freedom, and the second degree of freedom is presented by the movement in the direction of axis x (azimut y2). The values of both the helicopter’s angular displacements are influenced by the propellers’ rotation. The angular displacements (φ – angle for elevation, ψ – angle for azimuth) are measured by incremental encoders.
• The DC motors are driven by power amplifiers using pulse width modulation, whereby a voltage introduced to motors (u1, u2, u3) is directly proportional to the computer output. The model is connected to the computer by a multifunction card MF614, which communicates with the computer by functions of Real Time Toolbox.

Fig.1 Scheme of model's mechanical realization

Systemic description of model

• actuating inputs

• main motor’s volatge u1 (input for main propeller control)
• side motor’s volatge u2 (input for side propeller control)

• disturbances

• input u3 for center of gravity control
• affect of nonmeasured disturbances d

• measured outputs

• position in elevation y
• position in azimuth x

Fig.2 Systemic description of model

Using the model in pedagogy

• courses

• Optimal and Nonlinear Systems (1st grade master degree)
• Control and Artificial Intelligenmce (1st grade master degree)

• bachelor theses

• diploma theses

• JAJČIŠIN, Štefan: Application of Modern Methods in Nonlinear Laboratory Models Control
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2010
• DOLINSKÝ, Kamil: Implementation of the Experimental Identification Results in Control of Educational Model Helicopter
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2010
• LÖRINC, Ľuboš: Implementation of the Control Algorithms of Dynamical Systems to SLC
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2008
• HORVÁTH, Martin: Dynamic System Control with using Artificial Intelligence
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2007
• TROJČÁK, Miloš: Nonlinear Systems Control – internet approach
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2007
• LUKÁČ, Michal: Optimal Control of Nonlinear Systems with using Neural Networks and Matlab Web Server
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2006
• LONŠČÁK, Richard: Control Algorithms of Virtual Models of Dynamic Systems with using Matlab Web Server
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2006

Using the model in the research

• dissertation theses

• JAJČIŠIN, Štefan: Predictive Control Algorithms Design with Nonlinear Models of Physical Systems
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2013 (in preparation)
• LONŠČÁK, Richard: Intelligent Modelling and Control of Complex Systems
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2009

• publications

• 2012
  JADLOVSKÁ, A. - JAJČIŠIN, Š.: Predictive Control Algorithms Verification on the Laboratory Helicopter Model, In: Acta Polytechnica Hungarica (Journal of Applied Sciences), Vol. 9, No. 4, 2012, ISSN 1785-8860. Available on the Internet: http://www.uni-obuda.hu/journal/Jadlovska_Jajcisin_36.pdf. (ADE)  
• 2011
  DOLINSKÝ, K. – JADLOVSKÁ, A.: Application of Results of Experimental Identification in Control of Laboratory Helicopter Model, Advances in Electrical and Electronic Engineering, scientific reviewed Journal published in Czech Republic, Vol. 9., Issue 4, 2011, VSB – TU of Ostrava FEE and Computer Science and University of Žilina FEE, pp.157-166, ISSN 1804 3119, http://advances.utc.sk/index.php/AEEE/article/view/517  
• 2010
  DOLINSKÝ, K. – JADLOVSKÁ, A. : Implementation of the Experimental Identification Results in Control of Educational Model Helicopter, In: Electrical Engineering and Informatics: Proceedings of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice, September 2010 Košice, CD-ROM, pp.546-550, ISBN 978-80-553-0460-1 (in Slovak)
  
  JAJČIŠIN, Š. – JADLOVSKÁ, A.: Modern State Control Methods Application on Real Educational System, In: Electrical Engineering and Informatics: Proceedings of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice, September 2010 Košice, CD-ROM, pp.551-555, ISBN 978-80-553-0460-1. (AED) (in Slovak)
• 2008
  JADLOVSKÁ, A. – LONŠČÁK, R.: Design and Experimental Verification of Optimal Control Algorithm for Educational Model of Mechanical System. In: Electroscope – online journal for Electrotechnics, Vol. 2008, No I. ISSN 1802-4564, Available on the Internet: http://147.228.94.30/index.php?option=com_content&view=article&id=86:navrh-a-experimentalne-overenie-algoritmu-optimalneho-riadenia-&catid=17:islo-1--2008&Itemid=38 (2008).   (in Slovak)
• 2007
  JADLOVSKÁ, A. – KABAKOV, N. - LONŠČÁK, R.: Optimal Control Design for Laboratory Helicopter Model. In: Process Control '07: 16th international conference: Štrbské Pleso, High Tatras, Slovak Republic, June 11 - 14, 2007. Bratislava: Slovak university of technology, 2007. p. 124-1-124-8. ISBN 978-80-227-2677-1.