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Modeling and simulation of a stabilizer bar for coaxial helicopters


Michael Hornung, A. Martinez Gomez

Semester Group Work (10126)

This group project deals with the modeling and the computational simulations of miniature coaxial helicopters. It is a basic component for the autonomous control of coaxial helicopters contributing to the RCopterX project at IfA. The purpose is to control the helicopter by using visual feedback of the position and motion, which are observed by infra-red cameras (Vicon System). The focus is on the modeling and implementation of a stabilizer bar, which stabilizes the helicopter and is crucial in such miniature scaled coaxial helicopters. In the thesis the derivation of the physical equations is extensively elaborated, explaining precisely how to obtain the state equations. Furthermore the introduced model of the Bell stabilizer bar is the starting point for the derivation of the stabilizer bar equations and its implementation. The appearing stabilizer bar parameters are investigated and tested in detail. The derived models with and without stabilizer bar are compared and the performance differences discussed. The counter-displacement experiment is used to get rid of undesired remaining velocities in angular quantities. Furthermore, the experiment results were validated on a nonlinear model as well as compared to a linearized model. i


Type of Publication:

(16)Semester Group Work

S. M. Huck

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