Dynmaic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system

Ahmad, S.M., Chipperfield, A.J. and Tokhi, M.O. (2004) Dynmaic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering, 218, (16), 451-463. (doi:10.1243/0959651052010089).


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Original Publication URL: http://dx.doi.org/10.1243/0959651052010089


A dynamic model for the characterization of a two-degree-of-freedom (DOF) twin-rotor mulit-input multi-output systems (TRMS) in hover is extracted using a black box system identification technique. Its behaviour in certain aspects resembles that of a helicopter, with a significant cross-coupling between longitudinal and lateral directional motions. Hence, it is an interesting identification and control problem. The extracted model is employed for designing and implementing a feedforward/open-loop control. Open-loop control is often the preliminary step for development of more complex feedback cotnrol laws. Hence, this paper also investigates open-loop control strategies using shaped command inputs for resonance suppression in the TRMS. Digital low-pass and band-stop shaped inputs are used on the TRMS test bed, based on the identified vibrational modes. A comparative performance study is carried out and the results presented. The low-pass filter is shown to exhibit better vibration reduction. When modal coupling exists, decoupoled feedback controllers are incapable of eliminating vibration. In such cases, generating motion by shaped reference inputs is clearly advantageous.

Item Type: Article
Digital Object Identifier (DOI): doi:10.1243/0959651052010089
ISSNs: 0959-6518 (print)
Related URLs:
Keywords: discrete-time systems, helicopter, linear identification, twin-rotor multi-input multi-output (MIMO) system, open-loop control, vibration supression
Subjects: Q Science > Q Science (General)
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences > Computational Engineering and Design
ePrint ID: 43086
Accepted Date and Publication Date:
Date Deposited: 11 Jan 2007
Last Modified: 31 Mar 2016 12:16
URI: http://eprints.soton.ac.uk/id/eprint/43086

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