3-DoF Copter for Dynamic Control

OVERVIEW

The ACROME 3-DoF Copter is a versatile educational platform that allows students to explore the principles of flight dynamics and MIMO control systems. Thanks to its modular design, digital-twin simulation files and open-source examples, it is perfect for both undergraduate education and reserach use. The 3-DoF copter comes with a comprehensive curriculum that includes theoretical concepts and practical applications, enabling learners to gain a deep understanding of aerodynamics and MIMO control structures. The modular boards allow low-level hands-on experiences and HIL simulations as well.

SOFTWARE OPTIONS



LabVIEW, Real-Time (optional), FPGA (optional)



Altair Activate



Executable & GUI



Python



LabVIEW, Real-Time, FPGA (optional)



Python and OpenCV



API for External Control (Examples for LV, Matlab, Python)



MatLab/Simulink



C with STM32 software



API for External Control (Examples for LV, Matlab, Python)

* Different controllers may require

CONTROLLER OPTIONS



USB (PC based)



Raspberry Pi + Shield



NI myRIO

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Arduino Mega + Shield

SPECIFICATIONS

Payload

12 kgs (26,5 lbs)

Up to 150 kgs (331 lbs)

Workspace Options

X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°

Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°

Position Repeatability

+/- 100 µm

Down to +/- 25 µm

Angular Sensitivity

0.2°

Down to 0.1°

Max. Linear Speed

40 mm/sec.

Up to 80 mm/sec.

Height (min-max)

402-502 mm

330-920 mm

Platform Diameter

350 mm (hexagonal)

250-1000+ mm

Base Diameter

450 mm (hexagonal)

450-1000+ mm

Weight

14 kgs (31 lbs)

Based on custom options

SPECIFICATIONS

Payload

Workspace

± 30° in Pitch, ± 30° in Roll, ± 180° in Yaw (unlimited)

Position Repeatability

Angular Sensitivity

Max. Speed

180° / second

Height (min-max)

263 mm. - 352 mm. (± 2mm.)

Height

Rod Height

Platform Dimensions (Length * Width)

Base Dimensions (Length * Width)

510mm. x 146mm. (± 2mm.)

Weight

2500 gr. (base unit only)

Propeller Wingspan

55 mm. (± 0.5mm.)

Ball Diameter

Magnet Diameter

Rod's Diameter

Motor Type

Brushed DC motor

Feedback Sensors

Encoder, IMU

Power Requirement

12V - 5A

FEATURES

Solid body for precise motion and measurement

Getting Started Program with rich Graphical User Interface for out-of-the-box user experience

High resolution incremental encoder for angle measurement of rotor arm

Modular I/O boards for learning the sensors and testing the thrust of the motors

Assembled and ready to control plant with the integrated power unit

Implementation of advanced digital control techniques

Fully compatible with MATLAB®/Simulink®

Fully documented system models and parameters provided for MATLAB®/Simulink® and Simscape

Enables students to create their own real-time algorithms

Open architecture with extensive courseware, suitable for undergraduate coursesand advanced control research topics

FAQs

What is 3-DoF Copter



The 3-DoF Copter is an automatic control system, used for teaching MIMO control systems and various related control algorithms.

What is a 3-DoF Copter used for?



The 3-DoF Copter is used for learning and trying advanced algorithms to control the 3 different angles of the product via changing the thrust of its dual propellors.

What are the feedback sensors available?



Two encoders are used to determine the pitch and yaw angle of the moving arm, where the 3rd angle (roll) is calculated in the software. An additional Inertial Measurement (IMU) sensor is also used to directly measure all 3 angles of its arm.

What controller types can I use to control the product?



A getting started example based on LQR is provided. You can also lock the product to move in 1 angle (pitch) and use simpler P/PI/PID algorithms for 1-DoF position control. Advanced controller algorithms such as estimators, LGQ, reinforcement learning can also be developed and used.

Does the product comes with a controller and software/courseware?



Product comes with the controller, software and a companion courseware with example source codes.

Is there any after-sales support or training for the product?



A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF 3-DOF COPTER

Base Unit and Electronics
Copter Tower (modular)
Sensor Simulation Add-On Board
Thrust Measurement Add-On Board

FEEDBACK STRUCTURES

Calculating Angle from Encoders
Basics of Filtering
Getting Angle from IMU Sensor

SYSTEM MODELING

What is coupled dynamics?
Introducing the 3-DoF axes
Modeling of 3-DoF Helicopter

STATE ESTIMATION

Deterministic Approach (LUT)
Stochastic Approach (Kalman Filter)

SYSTEM INTERFACES

Electronics Structure
Using Sensor Board
Using Thruster Board

CONTROL SYSTEM DESIGN

Introduction to Controllers
PID for 1-DoF Control
LQR Basics

PERFORMANCE MEASURES

Time Domain Characteristics
Steady State Response and Error
Comparing Simulation Results

ADD-ON BOARD EXPERIMENTS

Measuring Thrust with Loadcell
Filtering Loadcell Measurements
Hardware In the Loop Simulation

MIMO Control System with ACROME 3-DoF Helicopter

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Min

This article explains the basic concepts, control methods, and application areas of MIMO systems. Beyond the traditional PID control approach, the importance of modern methods such as LQR/LQG and non-linear control is emphasized. In addition, the benefits of ACROME's 3-DoF Copter kit — sensor support and simulation, thrust measurement, dynamic modeling, and advanced control experiments — are discussed.

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3-DoF Copter

REFERENCE CUSTOMERS

OVERVIEW

SMD PRODUCTS

SOFTWARE OPTIONS

CONTROLLER OPTIONS

APPLICATION AREAS

PRODUCT PHOTOS

SPECIFICATIONS

SPECIFICATIONS

FEATURES

FAQs

CURRICULUM

MIMO Control System with ACROME 3-DoF Helicopter

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3-DoF Copter

REFERENCE CUSTOMERS

OVERVIEW

SMD PRODUCTS

APPLICATION AREAS

PRODUCT PHOTOS

SPECIFICATIONS

SPECIFICATIONS

FEATURES

FAQs

CURRICULUM

RELATED ARTICLES

MIMO Control System with ACROME 3-DoF Helicopter

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Stewart Platform

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Delta Robot

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Smart Motion Devices

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Acrobot

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Access Acrome Lab Solutions Remotely to Achieve Your Distance Learning Goals