Simulation of the 2-DOF Helicopter (May, 25th, 2011)

assoverwroughtAI and Robotics

Nov 6, 2013 (3 years and 9 months ago)

69 views

Maryam

Alizadeh

May 25
th

2011

1

Contents:


Why

the simulation is needed?


How

is it implemented?


More details about blocks


Future works

2




Why the simulation is needed?



Testing different approaches to find the best solution is
necessary.

Advantages of simulation:


Decreasing the numbers of test with the real system


Time and Cost effectiveness


3

How is it implemented?

4

Angles
Calculation

LQR Controller

Model Helicopter

&

Attached Camera

Θ
inc,
Ψ
inc

Voltages

New Image and
information

Ball
position
in the
Image

Real System Block Diagram

5

<<

Image
Processing

Challenges



Dealing with different coordinate systems


Camera frame and World Frame


Multi
-
rates blocks (1 ms for controller part and 100 ms
for image processing part)


The solution is rate transition blocks


6

Simulation block Diagram

7

Controller

Camera
Projection
Model

Helicopter
Model

Helicopter & Camera
position

Desired Point

(120,160)

Plant

Ball
Position
in World
Frame

X
p

,
Y
p

Θ
inc,
Ψ
inc

More Details About Blocks

8

Camera Projection Model

9

Controller

Camera
Projection
Model

Helicopter
Model

Helicopter & Camera
position

Desired Point

(120,160)

Plant

Ball
Position
in World
Frame

X
p

,
Y
p

Θ
inc,
Ψ
inc

Camera Projection Model


10

Θ

Ψ

X
p

,
Y
p

Ball position in
the image

Helicopter Model

11

Controller

Camera
Projection
Model

Helicopter
Model

Helicopter & Camera
position

Desired Point

(120,160)

Plant

Ball
Position
in World
Frame

X
p

,
Y
p

Θ
inc,
Ψ
inc

Helicopter Model

12

Helicopter
Model

M

ECG Modeling

PD Controller

Quintic

Polynomial
Trajectory Planning

Helicopter Model

13

X
p

,
Y
p

Ball position in
the image

Θ
inc,
Ψ
inc

Controller & Plant

14

Controller

Camera
Projection
Model

Helicopter
Model

Helicopter & Camera
position

Desired Point

(120,160)

Plant

Ball
Position
in World
Frame

X
p

,
Y
p

Θ
inc,
Ψ
inc

Camera Projection Model

Controller & Plant

15

Θ
inc,
Ψ
inc

Future work



Working on the other parts of Helicopter model (PD
Controller & Trajectory Planning)



Modification in Projection Model to get the best
results

16

17

Thank you for your attention


The only part which is in common with real model is
LQR Controller, so we need to model them in
simulation


In this regard we need a coordinate system which be
able to define ball position either in world or regarding
to camera position


In simulation, we just know the
initia
; position of the
ball

18