Optimization of the Cascade-Feedback Parameters of the Flying Helicopter (FHS) Model Based Controller

Abstract

The German Aerospace Center operates the Flying Helicopter Simulator as a research helicopter. The feedback controller parameters of its model based control system are optimized in this work regarding two criteria in time domain using a desktop Simulink implementation of the controller structure and the helicopter model. The first objective function is called Delta Rating. A normalized integral of absolute errors between commanded states and measured states is minimized. The second objective function is the Delta Rating enhanced with an additional penalty on overshoots of the measured states. The controllers found were evaluated using a frequency domain criterion, a weighted sum of the difference in amplitude and phase multiplied with the coherence between output and input. The behavior of the controlled helicopter is also evaluated in a ground based simulator.