QNET Vertical Take-Off and Landing (VTOL)

1. QNET VTOL Trainer
Project 2
By Fadzli,John & Zoubair
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CURRENT
CONTROL
FIGHT
CONTROL
MODELING
RESULTS

2. Current Control
LAB Section Name Slide No.
1. Finding resistance 3
2.
Qualitative Current
Control
6
3.
Current Control
Design
8
4. Result 7

3. • Current Control off
• Vary Voltage 4 to 8v
• Find the current &
resistance
Ohm’s Law
Finding A & OHm
Current
R = 4 / 1.6
R = 2..5 ohm

4. • Current Control off
• Vary Voltage 4 to 8v
• Find the current &
resistance
Measurement Graphs
tab
find the steady-state
gain and the time
constant
Finding A & OHm
R = 5 / 1.9
R = 2.63 ohm

5. • Current Control off
• Vary Voltage 4 to 8v
• Find the current &
resistance
Measurement Graphs
tab
find the steady-state
gain and the time
constant
Finding A & OHm
R = 6 / 2.3
R = 2.61 ohm

6. • Current Control off
• Vary Voltage 4 to 8v
• Find the current &
resistance
Measurement Graphs
tab
find the steady-state
gain and the time
constant
Finding A & OHm
R = 7 / 2.8
R = 2.5 ohm

7. • Current Control off
• Vary Voltage 4 to 8v
• Find the current &
resistance
Measurement Graphs
tab
find the steady-state
gain and the time
constant
Finding A & OHm
R = 8 / 3.2
R = 2.5 ohm

8. Lab 2: Qualitative Current Control
• Amplitude = 0.20 A
• Frequency = 0.40 Hz
• Offset = 0.90 A
• kp;c = 0.250
• ki;c = 10

9. Lab 2: Qualitative Current Control
• kp;c = 0.250
• ki;c = 10
*• kp; c = 0
• ki; c = 100

10. Calculate the PI gains, kp
and ki
• Wn = 42.5 rad/s
• ç = 0.70
Lab 3: Current Control Design
Lm = 53.8 mH
Kp = 0.65
ki = 47.17

11. • Amplitude = 0.20 A
• Frequency = 0.40 Hz
• Offset = 0.90 A
enter Ki & Kp
found previously
Model validation

12. Parameter Value Units
Rm 2.5 Ohm
Lm 53.8 mH
Wn 42.5 rad/s
kp;c 0.65 V/A
ki;c 97.176 V/(A s)

13. MODELLING
LAB Section Name Slide No.
1.
Measure the Equilibrium
Current 9
2. Find Natural Frequency 11
3. Model Validation 15
4.
Using the System Identification Tool
16
5. Result 17

14. Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = 1.00 A
Gradually increase
the offset current
until the VTOL Trainer
is horizontal.
Lab 1: Measure the Equilibrium
Current

15. Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = 1.00 A
Gradually increase
the offset current
until the VTOL Trainer
is horizontal.
Lab 1: Measure the
Equilibrium

16. Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = 1.00 A
Gradually increase
the offset current
until the VTOL Trainer
is horizontal.
Lab 1: Measure the
Equilibrium

17. Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = 1.00 A
Gradually increase
the offset current
until the VTOL Trainer
is horizontal.
Lab 1: Measure the
Equilibrium

18. Lab 2: Find Natural
Frequency
Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = Ieq = 1.10

19. Current Control ON
Pi found previously
• Amplitude = 0.00 A
• Frequency = 0.20 Hz
• Offset = Ieq = 1.10
Amplitude =0.10 A
Lab 3: Model Validation

20. • Amplitude = 0.10 A
• Frequency = 0.20 Hz
• Offset = Ieq = 1.10
Enter the identified
transfer function.
Lab 4: Using the System
Identification Tool

21. • Amplitude = 0.10 A
• Frequency = 0.20 Hz
• Offset = Ieq = 1.10
Enter the identified
transfer function.
Lab 4: Using the System
Identification Tool

22. Description Symbol Value Unit
MODELLING
Equilibrium current Ieq 1.08 A
Torque thrust constant Kt .0209 (N m)/A
Moment of inertia J 0.0035 kg m2
Viscous damping B 0.002 (N m s)/rad
Natural frequency Wn 3.14 rad
Stiffness K 0.0345 (N m)/rad
Sys ID: Torque-thrust constant Kt 0.0196 (N m)/A
Sys ID: Viscous damping Bid 0.01 (N m s)/rad
Sys ID: Stiffness Kid 0.0343 (N m)/rad

23. FIGHT CONTROL
LAB Section Name Slide No.
1. PD Steady-State Analysis 19
2.
PID Steady-State Error
Analysis 11
3. PID Control Design 15
4. Result 16

24. Calculate the theoretical VTOL
Trainer steady-state error when
using a PD control with kp = 2 and
kd = 1 and
a step amplitude of R0 = 4.0
degrees.
Lab 1: PD Steady-State
Analysis
Ess = 1.556 R0 = 4
J = 0.0035
b = 0.002
K = 0.0345
Ki = 0

25. • Amplitude = 0.0 deg
• Frequency = 0.15 Hz
• Offset = 0.0 deg
• kp = 1.0 A/rad
• ki = 2 A/(rads)
• kd = 1.0 As/rad
Lab 1: PD Steady-State Analysis

26. • kp = 2.0 A/rad
• ki = 0 A/(rad.s)
• kd = 1.0 A.s/rad
• Amplitude = 2.0 deg
• Frequency = 0.40 Hz
• Offset = 2.0 deg
Lab 1: PD Steady-State
Analysis

27. increment the integral gain until
you reach ki = 4.0 A/(rads).
Lab 1: PD Steady-State
Analysis

28. increment the integral gain until
you reach ki = 4.0 A/(rads).
Lab 2: PID Steady-State
Error
Analysis

29. increment the integral gain until
you reach ki = 4.0 A/(rads).
Lab 2: PID Steady-State Error
Analysis

30. increment the integral gain until
you reach ki = 4.0 A/(rads).
Lab 2: PID Steady-State Error
Analysis

31. increment the integral gain until
you reach ki = 4.0 A/(rads).
Lab 2: PID Steady-State Error
Analysis

32. • Amplitude = 0.0 deg
• Frequency = 0.15 Hz
• Offset = 0.0 deg
enter the PID gains
found in Section
4.5.1.
Lab 3: PID Control Design

33. • Amplitude = 2.0 deg
• Frequency = 0.40 Hz
• Offset = 2.0 deg
Lab 3: PID Control Design

34. set Amplitude (rad) to 0 rad and
slowly decrement Offset
(rad) to -8.0 rad.
Lab 3: PID Control Design

35. set Amplitude (rad) to 0 rad and
slowly decrement Offset
(rad) to -8.0 rad.
Lab 3: PID Control Design

36. set Amplitude (rad) to 0 rad and
slowly decrement Offset
(rad) to -8.0 rad.
Lab 3: PID Control Design

38. SUMMARY
Concepts learned in the Vtol Trainer
✓ Current control
✓ Modelling & Validation
✓ PID
✓ Steady state analysis