Dynamic modelling and control of a 2-DOF twin rotor multi-input multi-output system
Dynamic modelling and control of a 2-DOF twin rotor multi-input multi-output system
A dynamic model for the characterisation of a two-degree-of freedom (OOF) Twin Rotor MIMO System (TRMS) in hoveris 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 feed forward open-Ioop control. Open-loop control is often the preliminary step for development of more complex feedback control laws. Hence, this paper also investigate sopen-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 testbed, 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.
1451-1456
Ahmad, S.M.
c20637e0-84f5-41b2-938b-4f0b697cee9e
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
7c7518e4-1b91-4a49-afca-1250c9a8b6ca
6 August 2002
Ahmad, S.M.
c20637e0-84f5-41b2-938b-4f0b697cee9e
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
7c7518e4-1b91-4a49-afca-1250c9a8b6ca
Ahmad, S.M., Chipperfield, A.J. and Tokhi, M.O.
(2002)
Dynamic modelling and control of a 2-DOF twin rotor multi-input multi-output system.
In IECON 2000: Proceedings (Industrial Electronics Conference).
IEEE.
.
(doi:10.1109/IECON.2000.972335).
Record type:
Conference or Workshop Item
(Paper)
Abstract
A dynamic model for the characterisation of a two-degree-of freedom (OOF) Twin Rotor MIMO System (TRMS) in hoveris 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 feed forward open-Ioop control. Open-loop control is often the preliminary step for development of more complex feedback control laws. Hence, this paper also investigate sopen-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 testbed, 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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Published date: 6 August 2002
Venue - Dates:
IEEE International Conference on Industrial Electronics, Control and Instrumentation: 2000 26th Annual Conference of the IEEE Industrial Electronics Society, Control and Instrumentation. 21st Century Technologies, , Nagoya, Japan, 2000-10-22 - 2000-10-28
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Local EPrints ID: 470199
URI: http://eprints.soton.ac.uk/id/eprint/470199
PURE UUID: 5e4816f6-ca8f-448e-ab88-6d68e2667f71
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Date deposited: 04 Oct 2022 16:48
Last modified: 17 Mar 2024 02:56
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Author:
S.M. Ahmad
Author:
M.O. Tokhi
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