Attitude control system implementation for a helicopter propeller setup using TMS320C31

TMS320C31을 이용한 모형 헬리콥터의 자세제어 시스템 실현

This paper deals with the attitude control problem of nonlinear MIMO propeller setup. Multivariable GPC[Generalized Predictive Control] is adopted as the main controller, and it is implemented by TMS320C31 in the current paper. The main object of control is to move the propellers to wanted positions. System identification is performed to configure the system. Performance of the multivariable predictive controller implemented is shown via some experiments, which shows the controller meets the adequate control purpose.