Figure 2
Source publication
The aim of the project was to design an aircraft Roll Autopilot control using MATLAB/Simulink 2011b and Villanova University LEGO Real-Time Target (VU-LRT) toolbox. LEGO Mindstorms NXT which provides a basis for implementing an embedded real-time controller was programmed in Simulink to act as a roll autopilot. To test and analyse the roll dynamics...
Contexts in source publication
Context 1
... Gain P=0.8 at 20 degrees ...... 70 Figure 40: Servo Motor with Proportional Controller Gain P=0.9 at 15 degrees ...... 71 Figure 41: Servo Motor with Proportional Controller Gain of P=1 at 10 degrees ..... 71 Figure 42: Servo Motor with Proportional Controller Gain of P = 1.7 at 5 degrees .. 72 Figure Figure 51: Servo motor Simulink model with Dead zone compensator .................... 82 Figure 52: Servo motor system analysis without dead zone compensator .............. 82 Figure 53: Servo motor system analysis with dead zone compensator ................... 83 Figure 54: Servo Motor with dead zone compensator to test system linearity ......... 84 Figure 55: Gyro calibration for roll angle and roll rate command system ................. 91 Figure 56: Gyro calibration result for roll angle and roll rate command system ....... 91 Figure 57: Gyro calibration for roll angle and roll rate using dead zone block .......... 92 ...
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... axis system is used as a reference axis because most Automatic Flight Control System (AFCS) uses feedback signals from the motion sensors and such sensors are relative to the axis system of the sensor and not to the body-fixed axis system of the aircraft (McLean 1990:18). Figure 2 below depicts an earth axis system i.e. origin is regarded as being fixed at the centre of the earth. From the above Figure 2, axis X E point to the north, Y E point to the east and Z E is pointing down making an orthogonal triad which can be used as a basic frame of reference. ...
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... 2 below depicts an earth axis system i.e. origin is regarded as being fixed at the centre of the earth. From the above Figure 2, axis X E point to the north, Y E point to the east and Z E is pointing down making an orthogonal triad which can be used as a basic frame of reference. However, in order to find the equation of motion with respect to aircraft Page 15 of 159 303CDE Individual Project 2011/12 itself a more suitable axis system is required therefore it is convenient to use a body axis system. ...
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... can also be used to tune the motor by varying gain and analysing the system behaviour. Figure 32 below is a step response of the system which will be useful to understand the test results of the LEGO servo motors. The following parameters were used: ...
