Development of Fuzzy Logic Controller for Quanser Bench-Top Helicopter

6th International Conference on Mechatronics

机械制造;无线电电子学

Jafri, M.H.^1 ; Mansor, H.^1 ; Gunawan, T.S.^1

Dept of Electrical and Computer Engineering, Kulliyyah of Engineering, International Islamic University Malaysia (IIUM), Jalan Gombak, Kuala Lumpur

53100, Malaysia^1

关键词: 3 degrees of freedom;    Bench-top helicopters;    Fuzzy logic controllers;    Performance comparison;    Quanser;    Simulink software;    Step response tests;    Zero steady state error;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/260/1/012015/pdf
DOI  :  10.1088/1757-899X/260/1/012015

来源: IOP

【 摘 要 】

Bench-top helicopter is a laboratory scale helicopter that usually used as a testing bench of the real helicopter behavior. This helicopter is a 3 Degree of Freedom (DOF) helicopter which works by three different axes wshich are elevation, pitch and travel. Thus, fuzzy logic controller has been proposed to be implemented into Quanser bench-top helicopter because of its ability to work with non-linear system. The objective for this project is to design and apply fuzzy logic controller for Quanser bench-top helicopter. Other than that, fuzzy logic controller performance system has been simulated to analyze and verify its behavior over existing PID controller by using Matlab & Simulink software. In this research, fuzzy logic controller has been designed to control the elevation angle. After simulation has been performed, it can be seen that simulation result shows that fuzzy logic elevation control is working for 4°, 5° and 6°. These three angles produce zero steady state error and has a fast response. Other than that, performance comparisons have been performed between fuzzy logic controller and PID controller. Fuzzy logic elevation control has a better performance compared to PID controller where lower percentage overshoot and faster settling time have been achieved in 4°, 5° and 6° step response test. Both controller are have zero steady state error but fuzzy logic controller is managed to produce a better performance in term of settling time and percentage overshoot which make the proposed controller is reliable compared to the existing PID controller.