Abstract
In spite of many advantages to use R/C helicopters the practical use of them is rare because of their instability. In this paper we propose a new construction of training simulator of the helicopter based on model following servo controller and present the experimental results.
The helicopter model has the freedom of six dimensions, and for the movement in 3-d space, a new type machine which does fix no motors on moving stages is proposed. The idea used is to use endless belts and diffrential gear mechanism which enable the simulator to move 3-d spce arbitrarily. The principle of model following servo controller (MFS) is briefly explained and its characteristic is examined by using high gain feedback control technique. When the gain of closed loop increases, the transfer function from model input to plant output approaches to that of reference model. This meanes that the transient characteristic of model following type controller can be improved by using MFS controller. The results of the experiment for real helicopter model (SH-3D) are compared for the model following type controllers of various type, 1) Kreindler's method, 2) Davison's method, and 3) MFS. And the result is obtained that MFS is the most suitable controller to control real plant to follow a linear time invariant model.
