DESIGN AND EXPERIMENTAL IMPLEMENTATION OF VARIOUS CONTROLLERS FOR TWIN ROTOR MIMO SYSTEM

Abstract

A dynamical model for the characterization of a one-degree-of freedom Twin Rotor MIMO system (TRMS) in hover is depicted using a black-box system identification technique. It has striking similarity like Helicopter but it does not fly. Modelling of such complex air vehicle is very daunting task as it has a significant cross coupling between its horizontal & vertical directional motions. Therefore, it is an interesting control and identification problem. Identification for a 1DOF rigid-body, discrete time linear model is presented in detail. In this paper, a Fractional Order Integral Proportional Derivative (FOI-PD) controller has been realized and implemented in both simulation and real-time for the control of pitch and yaw angle of the TRMS. The novelty of the present work lies in the implementation of the robust FOI-PD controller. he nonlinear interior point optimization technique (fmincon function available in MATLAB optimization toolbox) has been utilized to identify the suitable controller parameter values by minimizing the cost functions within a predefined interval of controller parameters. In order to assess the performance of closed loop control system a continuously varying reference trajectory has been taken which is tracked by actual response. It is found in real time study that the FOI-PD controllers perform better than fractional order PID followed by integer order PID (IOPID) controllers based on same design criteria.