Name of the equipment:

3 DOF HELICOPTER

Make & Model:

Quanser

I-Stem Registration ID-

……………………..                              

Category of Instrument

Laboratory work bench instruments

Types of Analysis / Testing

Validation of control strategy

Application:

· Derivation of simple dynamic model using

system parameters

· State-space representation

· State feedback control

· LQR control design

· Control parameter tuning

· It can be used to understand and develop control laws for a vehicle that has dynamics representative of a dual rotor rigid body helicopter, or any device with similar dynamics.

Description of Instrument

The helicopter body is suspended from an instrumented joint that is mounted at the end of an arm and is free to pitch about its centre. The other end of the arm is fastened to the base using a two degree of freedom joint, allowing the helicopter to rotate about the vertical axis as well as up and down. The other end of the arm has an adjustable counterweight that changes the effective mass of the helicopter system – making it light enough to be lifted by the thrust from the propellers. All axes are measured using high-resolution encoders to obtain precise position feedback. The slip ring mechanism on the vertical axis allows the body to rotate continuously by eliminating the need for any wires to connect the motors and encoders to the base. The front and back propellers control the movement of the helicopter.

        Book through I-STEM:

https://www.istem.gov.in/

        Slot Booking Link

I-STEM Slot Booking link for External User

           Booking available for

           Internal and External Both

           Requisition form for

Internals

Externals

Faculty In-charge:      Dr. Mija SJ      Email ID: mija@nitc.ac.in      Phone number:     +91-9446336388

Technical Staff: Vignesh P vigneshp@nitc.ac.in +91-9578193127

Department EED Office Email ID eedoffice@nitc.ac.in Location Room No. DB 202, Department of Electrical Engineering Lab Phone No 0495 228 6301

Features of the equipment

Unique features/Measurement capabilities, if any

Instrument Technical Description and Major Specifications (This Specifications Limited to Major 5) Pitch and elevation encoders resolution (in quadrature)- 4096 counts/rev Yaw/travel encoder resolution (in quadrature)- 8192 counts/rev Pitch angle range 64- (± 32.0 deg) Elevation angle range- 63.5 deg Travel angle range- 360 deg Pitch force thrust constant- 0.22 N/V¹ Propeller pitch- 15.2 cm Pitch/front motor resistance- 0.83 Ω Pitch/front motor – current-torque constant- 0.0182 Nm/A Yaw/back motor resistance- 0.83 Ω Yaw/back motor – current-torque constant- 0.0182 Nm/A

Measurement/Sample specifications:

Internal	External Academic Institutes	National R&D Lab	Industry
5/-	500/-	500/-	1000/-