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Experiment 01

1) This lab report describes experiments conducted on a Twin Rotor Multi-Input Multi-Output (TRMS) system using MATLAB Simulink. 2) The TRMS system is a simplified model of a helicopter that uses two rotors to control its pitch and yaw angles. It exhibits significant cross-coupling between the rotors. 3) Experiments were conducted using nonlinear models, PID controllers for pitch and yaw individually, and dual PID control of both pitch and yaw simultaneously. Simulink and real-time models were tested.

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25 views19 pages

Experiment 01

1) This lab report describes experiments conducted on a Twin Rotor Multi-Input Multi-Output (TRMS) system using MATLAB Simulink. 2) The TRMS system is a simplified model of a helicopter that uses two rotors to control its pitch and yaw angles. It exhibits significant cross-coupling between the rotors. 3) Experiments were conducted using nonlinear models, PID controllers for pitch and yaw individually, and dual PID control of both pitch and yaw simultaneously. Simulink and real-time models were tested.

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CONTROL SYSTEMS ENGINEERING

MEX 4243
LAB REPORT

EXPERIMENT 01
TWIN ROTOR MIMO SYSTEM

NAME : T.G.S.P.Thambavita
REG.NO : 60864505
GROUP : CLE 04
CENTRE : Colombo
DUE DATE : 03/09/2010
AIM : TRMS model test using MATLAB (Simulink)

APPARATUS : * Mechanical unit - consists of two rotors placed on a beam together with a
counterbalance & the whole unit attached to the tower.

* Electrical unit - placed under the tower

* Control unit - a personal computer with MATLAB software

INTRODUCTION : The TRMS workshop serves as a model of a helicopter. However some


significant simplifications are made. First is the fact that TRMS is attached to
a tower and second of great importance that the helicopter position and
velocity is controlled through the rotor velocity variation. In the real
helicopter the rotor velocity is less constant and the propulsion is varied
through the rotor blades angle modification.

Nevertheless the most important dynamic characteristic present in a


helicopter are captured in the TRMS model. Like in a real helicopter there is
a significant cross coupling between two rotors. If we activate the vertical
position rotor the helicopter will also turn in the horizontal plane.

With two inputs (the voltages supplied to the rotors) and outputs
(vertical and horizontal angles and angular velocities) the TRMS is an
excellent MIMO plant for laboratory exercises.

THEORY : TWIN ROTOR MULTIPLE INPUT MULTIPLE OUTPUT SYSTEM

Yaw

Pitch

Counterbalance

Tower

Electrical unit

Fig – 01: Prospective of the TRMS


Fig – 02: Font elevation of the TRMS

The TRMS is shown in fig. 01,02. It is driven by two D.C. motors. Its two propellers are perpendicular to
each other and join by a beam pivoted on its base that can rotate freely in the horizontal & vertical planes.
The join beam can be moved by changing the input voltage in order to control the rotational speed of the
propellers. The system equipped with a pendulum counterweight hanging from the beam, which is use for
balancing the angular momentum in steady state or with load. In certain aspects, its behavior resembles that
of a helicopter.

U1 V1
Pitch Rotor Main path
+
pitch

Cross path
from pitch

Cross path
from yaw

U2 Main path V2
Pitch Rotor yaw +

Fig – 03: Block diagram of the control system

The block diagram of the control system is show in Fig 03. U1 & U2 are the inputs those controlled the
TRMS. The dynamics cross couplings are one of the key features of the TRMS. The position of the beams is
measured with the means of incremental encoders, which provide a relative position signal. Thus every time
the Real-time TRMS simulation is run one must remember that setting proper initial conditions is
important.
TRMS MODELS

TRMS simulation models

Fig - 04

Nonlinear model - Sine wave pitch & Sine wave yaw

Fig – 05
Sine wave pitch & Step yaw

Fig – 06

Step pitch & Sine wave yaw


Fig – 07

Step pitch & Step yaw

Fig – 08

PID SIMULINK – PID Pitch//Desired pitch angle


Fig – 09

PID PITCH - PID Step Pitch

Fig – 10

PID YAW WITH DESIRED ANGLE

Fig – 11
PID Step yaw

Fig – 12

PID DUAL/ PITCH & YAW

Fig – 13
TRMS REALTIME MODELS

PID Pitch

Fig – 14

PID Yaw
Fig – 15

PID Dual/Pitch & Yaw


Fig – 17

Varying PID values

Varying P of Main motor


Fig – 18
Fig – 19

Varying I of Main motor


Fig – 20
Fig – 21

Varying D of Main motor


Fig – 22
Fig – 23

DISCUSSION : The TRMS is a model of a Helicopter. And TRMS is attaché to a tower and
great importance that the Helicopter position and velocity is controlled
through the rotor velocity variation.

The helicopter’s most important dynamic characteristics are captured in the


TRMS model. The significant cross couplings between the two rotors are the
same as in a real helicopter. If vertical position rotor is activated the
helicopter will also turn in the horizontal plane.

The voltages supplied to the rotors as the 2 inputs and the vertical and
horizontal angles as well as the angular velocities as the outputs makes the
TRMS  an excellent MIMO plant for laboratory exercises.

The voltages supplied to the rotors as the 2 inputs and the vertical and
horizontal angles as well as the angular velocities as the outputs makes the
TRMS  an excellent MIMO plant for laboratory exercises.

The mechanical system of TRMS IS simplified using a four-point mass system

The motion of the beam in the horizontal plane (around the vertical axis)

In this experiment, tested the Nonlinear, PID for pitch & yaw, and for the
duel models in Simulink.Then for pitch, yaw and dual models in Real time.

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