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Ppt final

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  • 1. 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
  • 2. 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
  • 3. 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
  • 4. VERTICAL PART(1DOF) • MAIN ROTOR : using Newton torque equation – And, Also,
  • 5. Thus, SIMULINK MODEL –
  • 6. HORIZONTAL PART (1DOF) • TAIL ROTOR: same as equations in main rotor –
  • 7. Thus, SIMULINK MODEL –
  • 8. • Motor transfer function and torque function of speed of rotor. Tail rotor- Main rotor-
  • 9. Simulation and Results (1DOF) Response of tail rotor
  • 10. Response of main rotor
  • 11. COMPLETE 2DOF MODEL
  • 12. RESULTS Response of the system with unit step input to main rotor and unit impulse to tail rotor
  • 13. Response of tail rotor to various inputs with different main rotor input
  • 14. Response of main rotor to different step input
  • 15. 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 .
  • 16. 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.

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