الملخص
تم اختبار نموذج ثلاثي المروحيات على شكل حرف Y مزود بثلاثة دوارات قابلة للإمالة في هذه الورقة. لتقليل مشكلة الـ yawing الناتجة عن عدم التماثل في عدد المراوح. تم ضبط اثنتين من المراوح في اتجاه عقارب الساعة. بينما تم ضبط المروحة الثالثة في الاتجاه المعاكس. تم ضبط معامل القوة بالتساوي لجميع المراوح في الحالة الأولى. ثم تمت مضاعفة معامل القوة والعزم للمروحة الواحدة التي تدور في اتجاه عكس عقارب الساعة للحالة الثانية. تم التحكم في النموذج بواسطة ستة مسيطرات PID مرتبطة بـ feedback liearization لكلا الحالتين. ثلاثة للموقع وثلاثة للميلان. تم معايرة PID باستخدام genetic algorithm. وتمت محاكاة النظام في MATLAB Simulink.
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