Identificação, instrumentação e controle de uma aeronave de duas hélices paralelas com atribuição de autoestrutura completa

Abstract

This dissertation presents the development and implementation of a tracking system control in the form of state space to control the angle of elevation and travel of a plant with two rotating and parallel helices with three degrees of freedom. Mathematical modeling is performed by using virtual prototyping with ADAMS software, which is based on multi-body modeling techniques to obtain the dynamic equations of the plant, facilitating the modeling process. Physical characteristics such as mass, center of mass and moment of inertia of the plant were obtained with experimental identification techniques. These characteristics are necessary for the virtual prototype to obtain a mathematical model the closest to the real model. With linear and nonlinear models obtained by ADAMS software, the tracking system control is designed using the MATLAB/Simulink software, simulations were done in order to obtain the gain values to control the plant and achieve the requirements of desired performance. It was subsequently performed the implementation of the control system in the real plant using hardware-in-the-loop technique for validation of the plant model and the controller. Different entries on the elevation and travel angle were simulated and implemented in the plant, and the experimental results were consistent to the simulated, thus validating the methodology that was presented in this thesis.