Specifications

2DOF Heli Equations.mws
Maple worksheet used to analytically derive the state-space
model involved in the experiment. Waterloo Maple 9, or a
later release, is required to open, modify, and execute this file.
2DOF Heli Equations.html
HTML presentation of the Maple Worksheet. It allows users to
view the content of the Maple file without having Maple 9
installed. No modifications to the equations can be performed
when in this format.
quanser.ind and quanser.lib
The Quanser_Tools module defines the generic procedures
used in Lagrangian mechanics and resulting in the
determination of a given system’s equations of motion and
state-space representation. It also contains data processing
routines to save the obtained state-space matrices into a
Matlab-readable file.
setup_lab_heli_2d.m
The main Matlab script that sets the model, control, and
configu-ration parameters. Run this file only to setup the
laboratory.
setup_heli2d_configuration.m
Returns the 2DOF Helicopter model parameters and encoder
calibration constants.
HELI2D_ABCD_eqns.m
Matlab script file generated using the Maple worksheet 2DOF
Heli Equations.mws. It sets the A, B, C, and D matrices for the
state-space representation of the 2DOF Helicopter open-loop
system.
d_heli2d_lqr.m
Matlab script that generates the position-velocity controller
gain K using LQR.
d_heli2d_lqr_i.m
Matlab function that the position-integral-velocity controller
gain K using LQR.
s_heli_2d_ff_lqr_i.mdl
Simulink file that simulates the open-loop or closed-loop
2DOF Helicopter using a nonlinear model of the system.
q_heli_2d_ff_lqr_i.mdl
Simulink file that implements the real-time position
controller for the 2DOF Helicopter system.
q_heli_2d_open_loop.mdl
Simulink file that runs the 2DOF Helicopter in open-loop, i.e.
al-lows user to command voltage directly to motors.
5.2 Open-loop Implementation
1. Load the Matlab software.
2. Open Simulink model q_heli_2d_open_loop.mdl shown in following Figure 4. The model runs your actual
2DOF Helicopter plant by directly interfacing with your hardware through the QUARC blocks, described in
[1].