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Rapid Control Prototyping of a Controller for a Experimental Helicopter Set-Up used in Control Engineering Courses

机译：用于控制工程课程的实验直升机设置的控制器的快速控制原型

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This paper deals with the application of the Rapid Control Prototyping (RCP) approach used for the control of a experimental helicopter set-up. The set-up is used for practical exercises in control engineering courses. The plant to be controlled can be described as a nonlinear MIMO system and one of the challenges for the students is the design of a suitable control algorithm. Two algorithms are successfully designed and tested via the RCP-approach: State-feedback control of the linearized system and the Exact-Linearization Control, whereas the second one will be treated in this paper. After the control design, the control performance is investigated using "Software in the Loop" (SiL) simulations. In the final step, the two control algorithms are implemented via automatic code generation on a specific target hardware (32 bit microcontroller TC1775). The paper presents the possible field of application of the widely used RCP-methodology in the lab courses of control engineering lectures by means of a specific application.
机译：本文涉及应用快速控制原型（RCP）方法用于控制实验直升机设置。设置用于控制工程课程的实际练习。可控制的植物可以被描述为非线性MIMO系统，并且学生的挑战之一是设计合适的控制算法。通过RCP - 方法成功设计和测试两种算法：线性化系统的状态反馈控制和精确线性化控制，而第二个算法将在本文中进行处理。在控制设计之后，使用“环路”（SIL）仿真中的“软件”来研究控制性能。在最后一步中，通过特定目标硬件上的自动代码生成实现两个控制算法（32位微控制器TC1775）。本文通过特定应用，介绍了控制工程讲座的实验室课程中广泛使用的RCP方法的应用领域。

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