Dynamic modelling and optimal control of a twin rotor MIMO system
Dynamic modelling and optimal control of a twin rotor MIMO system
A dynamic model for the characterising of a one-degree-of-freedom (DOF) twin rotor MIMO system (TRMS) in hover is extracted using a black-box system identification technique. The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. Identification for a 1-DOF rigid-body, discrete-time linear model is presented. The extracted model is employed in the design of a feedback LQG compensator. 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. The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint
391-398
Ahmad, S.M.
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Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
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6 August 2002
Ahmad, S.M.
7f1d2d4f-9461-4574-bb88-0b79e3448ef7
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Tokhi, M.O.
2e8c1200-2c80-42a2-b13e-3402ac2df49b
Ahmad, S.M., Chipperfield, A.J. and Tokhi, M.O.
(2002)
Dynamic modelling and optimal control of a twin rotor MIMO system.
In National Aerospace and Electronics Conference, Proceedings of the IEEE: Engineering Tomorrow (Cat. No.00CH37093).
IEEE.
.
(doi:10.1109/NAECON.2000.894937).
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Conference or Workshop Item
(Paper)
Abstract
A dynamic model for the characterising of a one-degree-of-freedom (DOF) twin rotor MIMO system (TRMS) in hover is extracted using a black-box system identification technique. The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. Identification for a 1-DOF rigid-body, discrete-time linear model is presented. The extracted model is employed in the design of a feedback LQG compensator. 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. The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint
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Published date: 6 August 2002
Venue - Dates:
National Aerospace and Electronics Conference (NAECON 2000): Proceedings of the IEEE 2000, , Dayton, OH, United States, 2000-10-10 - 2000-10-12
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Local EPrints ID: 470209
URI: http://eprints.soton.ac.uk/id/eprint/470209
PURE UUID: 232e6274-02ed-462b-a38f-a82d87eec1b2
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Date deposited: 04 Oct 2022 16:49
Last modified: 17 Mar 2024 02:56
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Author:
S.M. Ahmad
Author:
M.O. Tokhi
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