MEC2342: Evaluation of Energy Consumption & performance in the 2DOF helicopter control system: Control Engineering, Assignment, UOG, Singapore

Task 5 – Evaluation of Energy Consumption & performance in the 2DOF helicopter control system.

25) Implement both the pitch 1DoF model system and the given yaw controller system to control the full 2DOF helicopter, see Figure 6. Note that the controller 𝐾2(𝑠) will be given and the controller 𝐾1(𝑠) will be the one calculated in the previous tasks.

Figure 6: 2DOF helicopter control system

26) Evaluate the controller’s notional cost of energy consumption by computing the following equation:

Create a MATLAB script to compute the 𝑁𝑜𝑡𝑖𝑜𝑛𝑎𝑙 𝐶𝑜𝑠𝑡 𝑜𝑓 𝐸𝑛𝑒𝑟𝑔𝑦 𝐶𝑜𝑛𝑠𝑢𝑚𝑝𝑡𝑖𝑜𝑛,𝐽𝐶. Check the MATLAB function “trapz”, in MATLAB enter ‘’>help trapz’’. This function is used to integrate time domain signals.

27) When inserting a constraint or limit on the control action signal, evaluate the saturation effect. Evaluate once again the notional cost of energy consumption. The response will be evaluated with a series of step inputs and changes. The Simulink file is available in the xSiTe page.

28) Analyse the multiple-input and multiple-output (MIMO) 2DoF helicopter model (See Figure 7) and explain the coupling effect when implementing both the pitch 1DoF model system and the given yaw controller system.

Figure 7: 2DOF helicopter control system with limit on the control action