Twin Rotor MIMO System

1
Twin Rotor MIMO System
2
Objectives

• 1. Identification the TRMS
• 2. Design PID control system to improve the
  system responses

3
TRMS

• The Mechanical Unit of the Twin Rotor MIMO System
  besides the base and the tower consists of the
  following elements
• 1. Main rotor enables vertical thrust control
  thus vertical position control.
• 2. Tail rotor enables horizontal thrust thus
  position horizontal position control.
• 3. Counter balance counter weight for the main
  rotor

4
TRMS

• PC with a clocked control algorithm
• A/D and D/A converters serving as an interface
  between the PC and external environment
• The controlled process
• Sensors

5
Identification
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Identification Procedure
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Identification Procedure
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Identification Procedure

• gtgt ident

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Identification Procedure
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Identification Procedure
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Identification Procedure

•  To obtain z transfer function H(z)
• gtgt sysd-pitchtf(oe241, 0.1)
•   To convert H(z) to H(s)
• gtgt syspitchcd2c(sysd-pitch)

12
Planet Control

• There are numerous control algorithms. The PID
  control algorithm is popular because of its
  simplicity.

13
PID Controller

• PID controller consists of 3 blocks
  Proportional, Integral and Derivative

14
Proportional

• Proportional block is mostly responsible for the
  speed of the system reaction.
• In some plants the oscillations may occur if the
  value of P is set to be too large.

15
Integral

• The Integral part is very important and assures 0
  error value in steady state, which means that the
  output will be exactly what we want it to be.
• Nevertheless the Integral action of the
  controller causes the system to respond slower to
  the desired value changes and for systems where
  very fast reaction is very important the integral
  action may have to be omitted.
• Certain nonlinearities will also cause problems
  for the integration action. 

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Derivative

• The Derivative part has been introduced to make
  the response faster.
• However it is very sensitive to noise amplitude
  increase and may cause the system to react very
  nervously.

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PID controller Procedure
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Processing data

• pitch_pidtf(? ? ?,1 0)
•  Type rltool at the Matlab command line.
•  gtgt rltool