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

Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system
Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system
A dynamic model for the characterization of a two-degree-of-freedom (DOF) twin-rotor multi-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, decoupled feedback controllers are incapable of eliminating vibration. In such cases, generating motion by shaped reference inputs is clearly advantageous.
discrete-time systems, helicopter, linear identification, twin-rotor multi-input multi-output (MIMO) system, open-loop control, vibration supression
0959-6518
451-463
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.
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. (2004) Dynamic 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 and Control Engineering, 218 (16), 451-463. (doi:10.1243/0959651052010089).

Record type: Article

Abstract

A dynamic model for the characterization of a two-degree-of-freedom (DOF) twin-rotor multi-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, decoupled feedback controllers are incapable of eliminating vibration. In such cases, generating motion by shaped reference inputs is clearly advantageous.

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More information

Published date: 2004
Keywords: discrete-time systems, helicopter, linear identification, twin-rotor multi-input multi-output (MIMO) system, open-loop control, vibration supression

Identifiers

Local EPrints ID: 43086
URI: https://eprints.soton.ac.uk/id/eprint/43086
ISSN: 0959-6518
PURE UUID: 0151a2fd-9b1c-4dfa-8d43-9f03e623d91f
ORCID for A.J. Chipperfield: ORCID iD orcid.org/0000-0002-3026-9890

Catalogue record

Date deposited: 11 Jan 2007
Last modified: 19 Jul 2019 18:53

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