The use of PD and I control relative to wind in the direction control of helicopter

This paper aimed to improve the accuracy of the proportional and derivative control (PD control) for controlling the direction of helicopter in wind. The research began by using the dynamic test method in wind tunnel to test the performance of PD control that was adjusted gains and could acquire the desired yaw response in windless. The effect of wind increased the average steady state error. That can be solved by introducing the integral control (I control) into the based PD control but it produces undesired overshoot. So this research considered on the data of average steady state error of yaw angle and created its relative equation with the wind speed and the desired yaw angle respected to wind direction. Then the approach is the using of I control upon on the approximated error of yaw angle from created relative equation. The results of the dynamic test method in wind tunnel showed that proposed method can control the direction of helicopter stably with desired response characteristics. Although overshoot and vibration occurred in some cases, but the maximum and minimum error in steady state are also in acceptable ± 2 deg.