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Control System Lab

Experiment No.-3 VTOL Modelling


Name- Rahul Kumar Meena(B12089)
Group No.-8
Group Member- Reeta Meena
Seela Aiswarya
Objective- Compute the stiffness (K) in case of VTOL kit. (It can be performed
by using current control method explain in manual).
Theory- QNET VTOL is a trainer kit which mimics the parameters considered while
vertical take off and take on of Vechical.
IN Current control, The VI give open loop voltage to trainer kit. When VI is used in
current control mode, it regulate the current in the motor with respect to the reference
current set by us. When used in voltage mode, the voltage chosen is directly applied
to QNET amplifier, which in turn drives the motor.

Fig.-Cascade control system.


A PI current controller, the inner loop, is designed to regulate the current inside the
motor according to a desired current reference. This current reference is generated
from the outer loop controller: a PID compensator that control that pitch.
In case where the actuator has relatively slow dynamic such as an electromagnet with
a large inductance, it is favorable to design a current controller.
In this case, the voltage-current relations of the VTOL trainer motor can be describe,
in the time-domain, by the equation
Vm(t)=RmPm(t)+LmIm'(t)
and by the transfer function
Im(s)=Vm(s)/(Rm(s)+LmS)

Fig.-Block Diagram

using The PI controller

we obtain the following closed loop transfer function

To match the standard second order characteristic equation, we need a proportional


gain

and integral gain

Observation-

To find the resistance we take different voltage and check varied current
according to that we are finding the Avg. Resistance.
Voltage
4
5
6
7
7.5

Current
1.4
1.7
2.2
2.6
2.75

Resistance
2.857
2.941
2.721
2.692
2.727

Current response with no proportional gain


Kpc=0
and Kic=100

Current control design-

Equilibrium Current-

Natural frequency-

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