Design of a two-degree-of-freedom helicopter with disturbances in the tail rotor.

Description

The design of a two degrees of freedom with an electromechanical mechanism for the generation of disturbances in the tail rotor is presented. The design focuses on a laboratory platform that replicates the dynamics of a helicopter at Pitch and Yaw angles. This platform allows the analysis of the control schemes in the face of the variation in the incidence in the tail rotor by means of a servomotor. The included files are: *Design plans in PDF. *PDF 3D design file. *CAD design on the 2022 inventor software. *Programming files in the simulink environment. *Videos of the simulation and operation of the mechanism of the disturbance generator in the tail rotor. *Video of the two degree-of-freedom helicopter operation. *Programming and interface files on Matlab Simulink for system operation.

Steps to reproduce

Step one, the construction of the TDoFH structure starts from the manufacture TDOFH Design Plans.pdf design. Step two, the assembly begins by placing the Balero on piece 5 and 8. Subsequently, the copper rings are formed with the copper strip, the copper rings are installed on piece 8 at a 6mm distance by placing an insulating material between the rings and piece 8, this to avoid conductivity between the other rings. Once the rotary rings are installed, the required cables are welded to each rotary ring in the case of the channel with which the piece 8. In this way, a rotary ring to each power line or signal is designated, where the minimal lines required are the following: * Supply voltage to motors (16 V). *5 V supply voltage. * GND. * PWM signal for MR motor speed. *PWM signal for TR motor speed. *PWM signal for servomotor positioning. *Pitch potentiometer measurement signal. Step three, pieces 9 and 11 are adjusted to piece 8 together by means of screws. While, the mobile body in Pitch (piece 13) is adjusted by means of piece 12. Step four, after assembling the mobile bodies of pitch and yaw, the body of the TDoFH fixed base setting pieces 1, 2 and 5 with the M8 screws and corresponding nuts. Eventually, the servomotor ligates to the flange type of the bar 13, while, the TR is fixed to one of the design plates of piece 10. After the above, both corresponding plates of the piece10 cover the servomotor with 4 screws generating pressure giving regity to TR. Step five, piece 15 is adjusted to the pitch body (piece 13), then the MR adjusts to piece 15, in this way, piece 15 can be adapted for any rotor model that you want to use. As for the weight formed by piece 14, it is placed along the bar 13, thus displacing the center of mass to user preference. It is worth mentioning, the greater the displacement of the center of mass, the MR takes greater load, therefore the torque generated on yaw's rotation will be greater. Step six, the connection of the components is made to feed them with the corresponding voltage, GND, the corresponding PWM signals and measurement signal. Likewise, the continuity of connection of the components to the mircrocontroller and power supplies must be given.

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