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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    Title :

    Dynamic modeling and optimal control of a twin rotor MIMO system


    Contributors:


    Publication date :

    2000-01-01


    Size :

    719558 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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