Optimización del sistema de control del helicóptero didáctico de dos ejes con reingeniería y actualización tecnológica

Abstract

CONDITION FOR PUBLICATION OF PROJECT. This project aims to modernize the control system of a two–axis didactic helicopter, used in the automatic control laboratory of FIEC–ESPOL. The equipment, designed for teaching control and dynamics concepts, is currently inoperative due to the technological obsolescence of its components. The update seeks to ensure compatibility with standard software such as MATLAB and Simulink, while enhancing its pedagogical utility. The methodology was based on the development of a mathematical model of the system using physical formulations and experimental identification techniques. Regarding hardware, the existing components were evaluated, and new devices were integrated, including the ESP32 microcontroller, motion sensors, and a data acquisition module. These improvements enabled an efficient bidirectional communication between the plant and the control software, using real–time serial communication protocols. As for results, an adjusted model was obtained that accurately describes the dynamics of pitch and yaw axes, validated through experimental tests. Furthermore, a monitoring and control interface was developed, facilitating system operation and response analysis under different control strategies, including PID controllers. It is concluded that the modernization of the two–axis didactic helicopter optimizes its performance and ensures its relevance as a teaching tool. The project strengthens practical training in control engineering and contributes to bridging the gap between theory and application in both academic and industrial environments. Keywords: Automatic control, Didactic helicopter, technological modernization, system identification, ESP32, MATLAB/Simulink.