Modeling and Control of a Two DOF Helicopter with Tail Rotor Disturbances

The modelling and control of a two-degrees-of-freedom helicopter with perturbations in the tail rotor are presented. Numerical simulations are presented to analyze the behavior of the PID and GPI controllers when the angle of the tail rotor is modified. The controllers were designed based on the mathematical model of a prototype developed at UPIITAIPN. Therefore, the mechanical parameters of the system were calculated and the motors parameters were characterized. The prototype is able to rotate freely on the $z(\psi)$ axis, whereas on the $y(\theta)$ axis the rotation is limited to a range of _0.925rad to 0.925 rad. The work was carried out using the following methodology: the mathematical model and the non-linear characteristics were analyzed, the physical parameters were experimentally measured and the controllers were designed based on the obtained model. Finally, the proposed controllers were simulated.