EEE325– Control Systems

Lab # 06
To Create Mathematical Model of the Vertical Take-Off and
Landing System for the flight Control Operation using Free
Body Diagram and to design and validate the model using
LabVIEW/MATLAB
Name Ubaid Ur Rehman

Registration Number FA18-BEE-121

Class FA18-BSEE-E

Instructor’s Name Sir Abubakar Talha Jalil

1
LAB #1: To Create Mathematical Model of the Vertical Take-Off
and Landing System for the flight Control Operation using Free
Body Diagram and to design and validate the model using LabVIEW
Objective
• To create an open-loop mathematical model of the system for flight control operation, using the
free body diagram.
• To calculate the unknown parameters in the model.
• To Design and Validate the model with the hardware prototype available in the lab using
LabVIEW.
Required:
Software
• MATLAB/LABVEIW
Methodology
Unlike a DC motor, this system has to be characterized with at least one second-order mode. The
equation of motion is derived from first principles and then used to obtain the transfer function
representing the current to position VTOL dynamics Various methods can be used to find the modelling
parameters. In the laboratory, the parameters are first found manually by performing a few experiments
and taking measurements. Thereafter, the LabVIEW ® Systems Identification Toolkit is used to
automatically find the model the torque generated the propeller and the gravitational toque acting of the
counter-weight act in the same direction and oppose the gravitational torque on the helicopter body and
propeller assembly. We define the VTOL trainer as being in equilibrium when the thrust is adjusted until
the VTOL is horizontal and parallel to the ground we discuss the angular motions of the VTOL trainer with
respect to a thrust torque and The transfer function representing the current to position dynamics of the
VTOL trainer
LAB TASKS
Make sure that the VTOL counterweight is places as far from the propeller assembly as possible without
lifting the propeller itself. The base of the propeller assembly should reset lightly on the surface of the
QNET board.
In the Current Control Parameters section, set the PI current gains found in previous lab.
In the Current Set point section, set:
• Amplitude = 0.00 A
• Frequency = 0.40 Hz
• Offset = 1.00 A
The current required to make the VTOL Trainer horizontal is called the equilibrium current, 𝐼𝑒𝑞. Capture
the pitch and current response and record this current. Note down this value here
GRAPH
RESULT
The equilibrium current Ieq = 1.31A was measured in lab by performing the experiment. The above figure
represents pitch angle and current response when the VTOL Trainer is horizontal, i.e. at equilibrium.
TASK 2
Place the VTOL counterweight as far from the propeller assembly as possible without lifting the propeller
itself. The base of the propeller assembly should rest lightly on the surface of the QNET board.
In the Current Control parameters, set the PI current gains found in previous. In the current set point
section, set:
• 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.00 𝐴
• 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.40 𝐻𝑧
• 𝑂𝑓𝑓𝑠𝑒𝑡=𝐼𝑒𝑞=1.31A

When the VI starts and the equilibrium current step is applied, the VTOL Trainer will shoot upward
quickly and then oscillate about its horizontal. Capture this response and measure the natural frequency.
Note down this value here
GRAPH

RESULT
T=5.4 sec ; f=0.185Hz
ꞷn =(1/T)(No. of cycles *2π)
ꞷn = 3.5 rad/sec.
TASK 3 A
Using the VTOL Trainer Model and the specifications enlisted in Table below, compute the moment of
inertia acting about the pitch axis.
 J=m1(l1)2 + (¼) mh(lh)2+ m2(l2)2

J=0.00348 kgm2

Calculate the thrust current-torque constant 𝐾𝑡.

Kt= (1/2)*g*(-2m2l2 + 2m1l1 + mhlh)/(Ieq)

Kt = 0.0188 (Nm)/A

Based on the natural frequency found and the moment of inertia calculated above, find the stiffness of the
VTOL Trainer.
K= ꞷn2*J

K=0.04263(Nm)/rad.

Compute the VTOL Trainer Transfer Function based on the previously found parameters: 𝐾𝑡,𝐽,𝐵,𝑎𝑛𝑑 𝐾.

𝑃(𝑠) = 𝐾𝑡 / 𝐽(𝑠2+𝐵𝐽𝑠+𝐾𝐽)
𝑃(𝑠) = 5.40 / (𝑠2+0.574+8.132)
TASK 3 B
In the Current Control parameters, set the PI current gains found in previous Lab.
In the current set point section, set:
• 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.00 𝐴
• 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.20 𝐻𝑧
• 𝑂𝑓𝑓𝑠𝑒𝑡=𝐼𝑒𝑞 =1.31A
In the Current set point section set
• 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.10 𝐴
In the Transfer Function Simulation Parameters section, enter the parameters computed in above section. Is
the simulation matching the measured signal? Capture the response.
GRAPH

RESULT
 The simulated response is from the entered transfer function, and the other trace is the measured pitch
angle from the VTOL Trainer. They are not aligned exactly because the VTOL device cannot be initialized
at exactly 0 degrees pitch. However, they do match quite well when looking at the rate of increase and
decrease.
TASK 4
In the current set point section, set:
• 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒=0.10 𝐴
• 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦=0.20 𝐻𝑧
• 𝑂𝑓𝑓𝑠𝑒𝑡=1.2A (equilibrium current found in above section)
Which should perturb the VTOL Trainer is about its horizontal equilibrium point with a current amplitude
of ± 0.10 A. The Estimated Transfer Function displays a newly identified transfer function VTOL system
based on the 20 seconds of current (i.e. stimulus signal) and pitch angle (i.e. response signal) data. Enter
the identified transfer function below.
GRAPH

RESULT
The transfer function estimated by System identification tool is
𝑃(𝑠) = 0.3889 / (0.0756 𝑠2 + 0.1152 s + 1)
Assume the moment of inertia is as calculated in above section. Then from the identified transfer
function, find the stiffness(𝐾𝑖𝑑), the viscous damping(𝐵𝑖𝑑), and the current-torque constant (𝐾𝑡, 𝑖𝑑).
Note these values in Table 11.3. How do they compare with the parameters you estimated manually?

Parameters Symbol Value Units

Equilibrium Current 𝐼𝑒𝑞 1.31 𝐴

Torque Thrust Constant 𝐾𝑡 0.0188 (𝑁.𝑚)/𝐴

Moment of Inertia 𝐽 0.00348 𝐾𝑔.𝑚2

Viscous Damping 𝐵 0.002 (𝑁.𝑚.𝑠)/𝑟𝑎𝑑

Natural Frequency ⍵𝑛 3.5 𝑟𝑎𝑑/sec

Stiffness 𝐾 0.04263 (𝑁.𝑚)/𝑟𝑎𝑑

Sys ID: Torque Thrust Constant 𝐾𝑡,𝑖𝑑 0.0179 (𝑁.𝑚)/𝐴

Sys ID: Viscous Damping 𝐵𝑖𝑑 0.053 (𝑁.𝑚.𝑠)/𝑟𝑎𝑑

Sys ID: Stiffness 𝐾𝑖𝑑 0.0459 (𝑁.𝑚)/𝑟𝑎𝑑

POST LAB TASK

Task
Describe the major difference between VTOL setup and an actual helicopter in terms of degree of freedom.
Does the system provide good realization of helicopter?
ANSWER
The major difference between VTOL and an actual helicopter is the degree of freedom. The VTOL setup
provide one degree of freedom, but helicopter has more degree of freedom due to complex dynamic system
and having more rotors that rotor and move the helicopter in different directions. System provide good
realization of helicopter in one direction with one rotor to understand its mechanics
CONCLUSION
In this lab, we learned how to familiarize with QNET VTOL (Vertical Take-Off and Landing) trainer. The
flight control operations on QNET VTOL was implemented using LABVIEW. Lab also helped to learn
about open-loop mathematical model of the system for flight control operation, using free body diagram
and how to design it in VTOL. With the help equilibrium current, natural frequency of a system was
calculated. The transfer function of the current to position dynamics of VTOL trainer was calculated and
estimated transfer function was observed using system identification tool.