Modellering och simulering av hovrande helikopter
At the department of Electronic Warfare Assessments at the Swedish Defence Research Agency in Linköping one of the activities is modelling and simulation of the duel between a robot and a target. The aim with this Master's thesis is to develop a simulation model of an hovering helicopter. First a theoretical description of the forces and moments acting on an helicopter is given. Then the equations of motion are derived. These equations are simplified to be valid only for a hovering helicopter and the result is a mathematical model. The mathematical model is the basis for the design of a regulator, whos task is to bring the helicpoter to equilibrium and keep it hovering. Two different regulators are implemented and tested for several cases when different disturbances are acting on the helicopter. The matemathical model and one of the regulators are implemented in a simulation program and the results of the simulations are visualized in a graphical interface.