Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-output system
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-output system
This paper presents an investigation into the modelling and control of a one-degree-of-freedom (1 DOF) twin-rotor multi-input multi-output (MIMO) system (TRMS). The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. A dynamic model characterizing the TRMS in hover is extracted using a black-box system identification technique. The extracted model is employed in the design of a feedback linear quadratic Gaussian compensator, namely the stability augmentation system (SAS). This has a good tracking capability but requires high control effort and has inadequate authority over residual vibration of the system. These problems are resolved by further augmenting the system with a command path prefilter, resulting in the command and stability augmentation system (CSAS). The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint. The control law is implemented in realtime on the TRMS platform.
command and stability augmentation, feedforward control, helicopter, linear identification, linear quadratic gaussian, stability augmentation, twin-rotor multi-input multi-output system
203-227
Ahmad, S.M.
676dbe06-3934-463c-8ba4-e44a98bf0d43
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
e5d7c236-781f-4aa6-9fab-c3db3154149b
2003
Ahmad, S.M.
676dbe06-3934-463c-8ba4-e44a98bf0d43
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
e5d7c236-781f-4aa6-9fab-c3db3154149b
Ahmad, S.M., Chipperfield, A.J. and Tokhi, M.O.
(2003)
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-output system.
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 217 (3), .
(doi:10.1243/095965103765832885).
Abstract
This paper presents an investigation into the modelling and control of a one-degree-of-freedom (1 DOF) twin-rotor multi-input multi-output (MIMO) system (TRMS). The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. A dynamic model characterizing the TRMS in hover is extracted using a black-box system identification technique. The extracted model is employed in the design of a feedback linear quadratic Gaussian compensator, namely the stability augmentation system (SAS). This has a good tracking capability but requires high control effort and has inadequate authority over residual vibration of the system. These problems are resolved by further augmenting the system with a command path prefilter, resulting in the command and stability augmentation system (CSAS). The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint. The control law is implemented in realtime on the TRMS platform.
Text
ahma_03.pdf
- Accepted Manuscript
More information
Published date: 2003
Keywords:
command and stability augmentation, feedforward control, helicopter, linear identification, linear quadratic gaussian, stability augmentation, twin-rotor multi-input multi-output system
Identifiers
Local EPrints ID: 22429
URI: http://eprints.soton.ac.uk/id/eprint/22429
ISSN: 0959-6518
PURE UUID: f018294a-46b8-4485-946e-aa6bd811ae27
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Date deposited: 23 Mar 2006
Last modified: 16 Mar 2024 03:31
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Author:
S.M. Ahmad
Author:
M.O. Tokhi
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