1. Helicopter Hover Control VDM1-project F10 Lasse, Christian, Frederik

2. Purpose The purpose of the model is to maintain hover by actuators on the basis of data about position and orientation of the helicopter acquired from sensors. 2

3. Req’s A control-system used to maintain hover- position of a helicopter. The pilot puts the helicopter in hover before the system can be activated. When in hover, the pilot activates the system. 3

4. Req’s The set position must be maintained: ▫Hover-position compromised -> System reacts -> Hover-position is regained. ▫Hover-position cannot be maintained -> System gives an alarm -> Controls are handed over to the pilot. ▫(sensor -> system -> “actuator”) 4

5. Req’s (verbose) The set position must be maintained: ▫When the system gets a sensor-value indicating that hover-position is compromised, the system must react to regain hover-position by manipulating the actuators. ▫If a hover-position cannot be maintained, an alarm must be given, and the controls must be handed over to the pilot. 5

6. Req’s (actuators) Five actuators are needed to adjust the following parameters: ▫Cyclic (lateral)  Adjust side-ways horizontal movement ▫Cyclic (longitudinal)  Adjust forward/backwards horizontal movement ▫Collective  Adjust height and vertical speed (v.speed must be zero) ▫Anti-torque  Adjust heading of the helicopter ▫Throttle  Adjust RPM of main rotor 6

7. Req’s (sensors) Sensors needed for surveillance of the before mentioned parameters. ▫Altitude ▫Horizontal position ▫Gyrometer (heading, attitude (pitch), roll) 7

8. Next time Refine requirements. Identify possible classes and operations. UML class diagram 8