This is one of E-Motion’s case examples of motion control technology in military applications. We have designed, built, and programed a helicopter rotor control system with a master-slave relation of Y=A+B sin(X+C), which X=master location, Y=slave location, A=offset value, B=amplitude value, and C=phase value. 

The difficulty in this application is to not stop the motion when A, B, and C are adjusting to the changing dynamic forces; and keep the motors running smooth through the parameter transformation. In other words, the frequent transitions need to be smooth to ensure a stable flight under all conditions for the helicopter.

System controller: EMAC200