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DECOUPLING OF TWIN ROTOR MIMO SYSTEM
By- Murari Lal Garg Vishnuram Abhinav Rahul Nemiwal Kangkana Medhi
Under the guidance of Dr. Jeevamma Jacob
PHASE - 1
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TRMS• It is a laboratory set-up designed for control experiments. In certain aspects its behaviour resembles that of a
twin-rotor helicopter.• TRMS is driven by two D.C. motors• Its two propellers are perpendicular to each other and joined by
a beam pivoted on its base that can rotate freely in horizontal and vertical planes
• Joined beam can be moved by changing the input• Voltage in order to control rotational speed of propellers• It is equipped with a pendulum counterweight hanging from
the beam• It possesses a strong coupling between main and tail rotor• So in certain aspect, it resembles of a twin-rotor helicopter
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Mathematical Modeling • The system is modelled in terms of 2 DOF
dynamics using Newtonian mechanics.• All the effective forces have to be considered.• Modelling is classified as 2 part:1. 1DOF (without coupling)–I. Vertical part(main rotor)II. Horizontal part(tail rotor)2. 2DOF –
combination of both part with cross coupling
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VERTICAL PART(1DOF)• MAIN ROTOR : using Newton torque equation –
And,
Also,
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Thus, SIMULINK MODEL –
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HORIZONTAL PART (1DOF)• TAIL ROTOR:
same as equations in main rotor –
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Thus, SIMULINK MODEL –
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• Motor transfer function and torque function of speed of rotor.
Tail rotor-
Main rotor-
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Simulation and Results (1DOF)
Response of tail rotor
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Response of main rotor
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COMPLETE 2DOF MODEL
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RESULTS
Response of the system with unit step input to main rotor and unit impulse to tail rotor
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Response of tail rotor to various inputs with different main rotor input
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Response of main rotor to different step input
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CONCLUSION• Output of system is obtained what is
expected.• Settling time of main rotor is very high.• Response of input to main rotor is highly non-
linear.• There is significant effect of main rotor input
to tail rotor (cross coupling).• With the zero input to the main rotor, the
system is stable at 0.9326rad .
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REFERENCES• [1] Twin Rotor MIMO System 33-220 User Manual, 1998 (M/S Feedback
Instruments, Crowborough, UK).• [2] Ahmad, S.M., Shaheed, M.H. Chipperfield, A.J and Tokhi, M.O.,
“Nonlinear modelling of a twin rotor MIMO system using radial basis function networks ”, IEEE National Aerospace and Electronics Conference, 2000.pp 313-320.
• [3] Ahmad, S.M., M.H. Chipperfield, A.J and Tokhi, M.O., “Dynamic modelling and optimal control of a twin rotor MIMO system”, IEEE National Aerospace and Electronics Conference, 2000.pp 391-398
• [4] Lu, T.W. , Wen , P. ,”Decoupling control of twin rotor MIMO system using robust deadbeat control technique” , IET Control Theory Appl. , April 2008, Volume 2, Number 11, .pp 999-1007.
• [5] B. Kada, Y. Ghazzawi, “Robust PID Controller Design for an UAV Flight Control System” Proceedings of the World Congress on Engineering and Computer Science 2011 Vol II, WCECS 2011, October 19-21, 2011, San Francisco, USA.