Simulink Control Design™ - MathWorks

Multiloop Control of a Helicopter

This example shows how to use slTuner and systune to tune a multiloop controller for

a rotorcraft.

Helicopter Model

This example uses an 8-state helicopter model at the hovering trim condition. The state

vector x = [u,w,q,theta,v,p,phi,r] consists of

• Longitudinal velocity u (m/s)


• Lateral velocity v (m/s)


• Normal velocity w (m/s)


• Pitch angle theta (deg)


• Roll angle phi (deg)


• Roll rate p (deg/s)


• Pitch rate q (deg/s)


• Yaw rate r (deg/s).

The controller generates commands ds,dc,dT in degrees for the longitudinal cyclic,

lateral cyclic, and tail rotor collective using measurements of theta, phi, p, q, and r.

Control Architecture

The following Simulink model depicts the control architecture:

open_system('rct_helico')

Multiloop Control of a Helicopter