A dynamic model for a 1-DOF twin rotor MIMO system (TRMS) in hover is obtained 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. This paper investigates modelling and open-loop control of the longitudinal axis alone, while the lateral axis movement is physically constrained. It is argued that some aspects of the modelling approach presented are suitable for a class of new generation or innovative air vehicles with complex dynamics. 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 control laws. Open-loop control strategies using shaped command inputs are accordingly investigated for resonance suppression in the TRMS. Digital lowpass and band-stop filter shaped inputs are used on the TRMS testbed, based on the identified vibrational modes. A comparative performance study is carried out and the corresponding results presented. The low-pass filter is shown to result in better vibration reduction.
Dynamic modelling and open-loop control of a twin rotor mufti-input mufti-output system
2002
20 Seiten, 21 Quellen
Article (Journal)
English
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