Virtual Prototyping, Identification and Control of a Twin Rotor with 3DOF
( Vol-4,Issue-12,December 2017 )

Bruno M. Shimada, Lucas Niro, Eduardo H. Kaneko, Matheus F. Mollon, Wagner de S. Chaves, Marcio A. F. Montezuma


Control Systems, Parameters Identification, Virtual Prototyping.


This paper presents a methodology for identification of the physical characteristics, generation of the mathematical model through virtual prototyping and control of the didactic plant of a twin rotor. In the identification of the physical characteristics, the centers of mass and moments of inertia of the twin rotor parts were identified separately, by means of an easel designed for such task. Still in the identification of the physical characteristics, the equation that relates the applied voltage in the direct current motor with the thrust force produced by the propellers was obtained. The mathematical model of the twin rotor was obtained by means of the identification of the physical characteristics allied to the virtual prototyping with the aid of ADAMS and SolidWorks software. The implemented control system uses state feedback and complete eigenstructure assignment. The ease and usefulness of the proposed methodology was presented through the plant instrumentation, simulation and control in MATLAB/Simulink environment.

ijaers doi crossref DOI:


Paper Statistics:
  • Total View : 158
  • Downloads : 32
  • Page No: 037-043
Cite this Article:
Show All (MLA | APA | Chicago | Harvard | IEEE | Bibtex)

[1] A. C. G. C. Diniz, J. G. Aguiar and B. A. Fellipes, Qualitysystem in university laboratories: encouraging education, research and extension. Revista de Ensino de Engenharia, vol. 30, no. 2, pp. 14-23, 2011.
[2] W. V. dos Santos, Modeling, identification and altitude control of a small-scale helicopter. M.S. thesis, Federal University of Rio de Janeiro, Rio de Janeiro,2005.
[3] B. S. Kim, Nonlinear flight control using neural networks. Ph.D. Dissertation, Georgia Institute of Technology, Atlanta, 1993.
[4] Quanser. 3DOF helicopter. (2017). Retrieved from:
[5] M. F. Mucheroni. Mecânica aplicada às máquinas. São Carlos: EESC - University of São Paulo, 2000.
[6] M. A. F. Montezuma. Methodology for identification and control of a movement platform prototype with 2 D.O.F. Ph.D. Dissertation,School of Engineering of São Carlos, University of São Paulo, São Carlos, 2010.
[7] J. D’azzo; C. Houpis. Linear control system analysis and design: conventional and modern. 4th ed. New York: McGraw-Hill Companies, 1995.