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Ppt final
1. DECOUPLING OF
TWIN ROTOR MIMO SYSTEM
By-
Murari Lal Garg
Vishnuram Abhinav
Rahul Nemiwal
Kangkana Medhi
Under the guidance of
Dr. Jeevamma Jacob
PHASE - 1
2. TRMS
• It is a laboratory set-up designed for control
experiments. In certain aspects its behaviour resembles that of
a twin-rotor helicopter.
• TRMS is driven by two D.C. motors
• Its two propellers are perpendicular to each other and joined
by a beam pivoted on its base that can rotate freely in
horizontal and vertical planes
• Joined beam can be moved by changing the input
• Voltage in order to control rotational speed of propellers
• It is equipped with a pendulum counterweight hanging from
the beam
• It possesses a strong coupling between main and tail rotor
• So in certain aspect, it resembles of a twin-rotor helicopter
3. Mathematical Modeling
• The system is modelled in terms of 2 DOF
dynamics using Newtonian mechanics.
• All the effective forces have to be considered.
• Modelling is classified as 2 part:
1. 1DOF (without coupling)–
I. Vertical part(main rotor)
II. Horizontal part(tail rotor)
2. 2DOF –
combination of both part with cross coupling
16. CONCLUSION
• Output of system is obtained what is
expected.
• Settling time of main rotor is very high.
• Response of input to main rotor is highly non-
linear.
• There is significant effect of main rotor input
to tail rotor (cross coupling).
• With the zero input to the main rotor, the
system is stable at 0.9326rad .
17. REFERENCES
• [1] Twin Rotor MIMO System 33-220 User Manual, 1998 (M/S Feedback
Instruments, Crowborough, UK).
• [2] Ahmad, S.M., Shaheed, M.H. Chipperfield, A.J and Tokhi, M.O.,
“Nonlinear modelling of a twin rotor MIMO system using radial basis
function networks ”, IEEE National Aerospace and Electronics Conference,
2000.pp 313-320.
• [3] Ahmad, S.M., M.H. Chipperfield, A.J and Tokhi, M.O., “Dynamic
modelling and optimal control of a twin rotor MIMO system”, IEEE
National Aerospace and Electronics Conference, 2000.pp 391-398
• [4] Lu, T.W. , Wen , P. ,”Decoupling control of twin rotor MIMO system
using robust deadbeat control technique” , IET Control Theory Appl. , April
2008, Volume 2, Number 11, .pp 999-1007.
• [5] B. Kada, Y. Ghazzawi, “Robust PID Controller Design for an UAV Flight
Control System” Proceedings of the World Congress on Engineering and
Computer Science 2011 Vol II, WCECS 2011, October 19-21, 2011, San
Francisco, USA.