DESIGN OF CONTROLLERS FOR TWIN ROTOR MIMO (MULTIPLE INPUT MULTIPLE OUTPUT) SYSTEM

Abstract

Twin Rotor MIMO System (TRMS) is considered as a replica of Helicopter. The aim of the present work is to study the mathematical model of TRMS and designing the controllers for improving the response of TRMS. It provides a platform for controlling the flight of Helicopter through its pitch and yaw angle control. It is basically providing the turning or rotating action in operation of helicopter. In this project work, a non-linear model of Twin Rotor MIMO system is developed, linearized and represented in state space form. The Linear Quadratic Regulator (LQR) and a fuzzy controller (FC) have been designed for pitch and yaw angle control of a multiple input multiple output Twin Rotor system. Two degree of freedom dynamic model of helicopter is being used for Pitch and Yaw motion control through suitable controller design. In LQR regulator basically the LQR Parameters Q and R matrices have been chosen randomly. LQR method of control is the modern method of system design that uses state space method with full state feedback system to control and to stabilize the system. The performance of LQR controller is better in terms of robustness and good dynamic performance. Fuzzy controller basically consists of four subsystem fuzzifier, fuzzy rule base, inference engine and defuzzifier. Fuzzy controllers are nonlinear controllers in which two different control one for horizontal and other for vertical axis having different Rule base and membership functions are designed. Both the controllers are Mamdani Inference and designed and simulated in MATLAB. Lastly the comparison of performance parameters of TRMS with different controller response have been presented.