Abstract
The focus of this paper is on the control design and simulation of twin rotor aero-dynamical system (TRAS). The challenges for control design in these systems lie in their nonlinearity and the inherent cross coupling between motion in the vertical and horizontal directions. Working from a highly nonlinear, dynamically coupled, mathematical model, controller design is presented for the angular position/velocity in vertical and horizontal planes of motion. Three linear control methods were developed and optimized to control the TRAS, namely full state feedback (FSF), linear quadratic regulator (LQR), and PID control. Simulation and experimental results show trade-off between these control methods. Although better performance was achieved with LQR, more effort was needed. The PID control has always proved to be a simple approach that works well with linear models. However, in this study case the performance was strongly affected by the coupling effect as demonstrated by simulation and experimental results
Similar content being viewed by others
REFERENCES
Avila Vilchis, J.C., Brogliato, B., Dzul, A., and Lozano, R., Nonlinear modelling and control of helicopters, Automatica, 2003, vol. 39, no. 9, pp. 1583–1596.
Horáček, P., Laboratory experiments for control theory courses: A survey, Annu. Rev. Control, 2000, vol. 24, pp. 151–162.
Chi-Chung Luo, Ru-Feng Liu, Ciann-Dong Yang, and Yeong-Hwa Chang, Helicopter H∞ control design with robust flying quality, Aerosp. Sci. Technol., 2003, vol. 7, no. 2, pp. 159–169.
Mukherjee, R. and Degang Chen, Control of free-flying underactuated space manipulators to equilibrium manifolds, IEEE Trans. Rob. Autom., 1993, vol. 9, no. 5, pp. 561–570.
Dudgeon, G.J.W., Gribble, J.J., and O’Reilly, J., Individual channel analysis and helicopter flight control in moderate- and large-amplitude manoeuvres, Control Eng. Pract., 1997, vol. 5, no. 1, pp. 33–38.
Two Rotor Aero-Dynamical System, User Manual, INTECO.
Kautsky, J., Nichols, J.N.K., and Van Dooren, P., Robust pole assignment in linear state feedback, Int. J. Control, 1985, vol. 41, pp. 1129–1155.
Vaccaro, R.J., An optimization approach to the pole-placement design of robust linear multivariable control systems, 2014 American Control Conference, Portland, OR, 2014, pp. 4298–4305.
Dorf, R.C. and Bishop, R., Modern Control Systems, Upper Saddle River, NJ: Prentice-Hall, Inc., 2007, 11th ed.
Boz, A.F. and Sari, Y., Generalized optimal controller design for all pole systems using standard forms, Sci. Res. Essay, 2009, vol. 4, no. 33, pp. 167–174.
Wen, R. and Li, Y., Twin rotor system modeling, de-coupling and optimal control, 2011 IEEE International Conference on Mechatronics and Automation, Beijing, 2011, pp. 1839–1842.
Pradhan, K. and Ghosh, A., Design and implementation of decoupled compensation for a twin rotor multiple-input and multiple-output system, IET Control Theory Appl., 2013, vol. 7, no. 2, pp. 282–289.
Ramalakshmi, A.P.S. and Manoharan, P.S., Non-linear modeling and PID control of twin rotor MIMO system, 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), 2012, pp. 366–369.
Nise, N., Control Systems Engineering, New York: John Wiley & Sons, Inc., 2008, 5th ed.
Ogata, K., Modern Control Engineering, Saddle River, NJ: Prentice Hall, 2005, 5th ed.
Author information
Authors and Affiliations
Corresponding author
Additional information
The article is published in the original.
About this article
Cite this article
Almtireen, N., Elmoaqet, H. & Ryalat, M. Linearized Modelling and Control for a Twin Rotor System. Aut. Control Comp. Sci. 52, 539–551 (2018). https://doi.org/10.3103/S0146411618060020
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.3103/S0146411618060020