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PID Controller for 2-DOFs Twin Rotor MIMO System Tuned with Particle Swarm Optimization

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Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019 (AISI 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1058))

Abstract

This paper presents the modelling and control of a 2-DOFs Twin rotor multi input multi output (MIMO) system which is a laboratory setup resembling the dynamics of a helicopter. In this paper, the system modelling process is done using the common conventional mathematical model based on Euler-Lagrange method. The transfer functions of the model are used in the different tuning methods to reach the optimal PID gain values. The study uses conventional Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers to obtain a robust controller for the system. Particle Swarm optimization (PSO) technique was used to tune the controller parameters. A state space model is obtained considering some design assumptions and simplifications. Statistical measurement and convergence analysis is evaluated for the optimization of gain parameters of the PID controller for 2-DOF Twin rotor system using PSO by iteratively minimizing integral of squared error (ISE) and integral of time multiplied by the squared error (ITSE). The results are verified through simulations and experiments.

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Author information

Authors and Affiliations

  1. College of Engineering, Prince Sultan University, Riyadh, Kingdom of Saudi Arabia

    Ahmad Taher Azar

  2. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  3. School of Engineering and Applied Sciences, Nile University Campus, Juhayna Square, Sheikh Zayed District, 6th of October City, Giza, 12588, Egypt

    Abdelrahman Sayed Sayed, Abdalla Saber Shahin, Hassan Ashraf Elkholy & Hossam Hassan Ammar

Authors
  1. Ahmad Taher Azar
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  2. Abdelrahman Sayed Sayed
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  3. Abdalla Saber Shahin
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  4. Hassan Ashraf Elkholy
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  5. Hossam Hassan Ammar
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Corresponding author

Correspondence to Ahmad Taher Azar .

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Editors and Affiliations

  1. Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. The British University in Dubai, Dubai, United Arab Emirates

    Khaled Shaalan

  3. Ain Shams University, Cairo, Egypt

    Mohamed Fahmy Tolba

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Azar, A.T., Sayed, A.S., Shahin, A.S., Elkholy, H.A., Ammar, H.H. (2020). PID Controller for 2-DOFs Twin Rotor MIMO System Tuned with Particle Swarm Optimization. In: Hassanien, A., Shaalan, K., Tolba, M. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019. AISI 2019. Advances in Intelligent Systems and Computing, vol 1058. Springer, Cham. https://doi.org/10.1007/978-3-030-31129-2_22

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