scholarly journals Dynamic Model of TRMS Based on Homogeneous Transformation and Euler-Lagrange Equation

2021 ◽  
Vol 11 (8) ◽  
pp. 1-7
Author(s):  
Thi Le Na Nguyen ◽  
◽  
Quoc Huy Vu
Keyword(s):  
Nonlinear System ◽  
Dynamic Model ◽  
Mimo System ◽  
Lagrange Equation ◽  
Control Algorithms ◽  
Coordinate Systems ◽  
Twin Rotor Mimo System ◽  
Explicit Dynamic ◽  
Orthogonal Coordinate Systems ◽  
Twin Rotor

The aerodynamic experimental set TRMS (Twin Rotor MIMO System) is a strong nonlinear system, which has been taken by many scientists as an object to test modern control algorithms. The paper built a complete and explicit dynamic model for the TRMS based on dissociating TRMS into 3 subsystems, using homogeneous transformations in orthogonal coordinate systems to calculate the mass point’s position and velocity in component sub-systems; Euler - Lagrange equation was applied to model the dynamics for the object. Keywords— TRMS, dynamics, homogeneous transformation, mechanical system dissociation, Euler - Lagrange.

scholarly journals Controller and Observer Techniques for Twin Rotor MIMO System

2019 ◽  
Vol 9 (1) ◽  
pp. 585-590
Keyword(s):  
Mathematical Modeling ◽  
Nonlinear System ◽  
Unmanned Aerial Vehicles ◽  
Road Traffic ◽  
Mimo System ◽  
Pitch Control ◽  
Aerial Vehicles ◽  
Twin Rotor Mimo System ◽  
Observer System ◽  
Twin Rotor

This paper elaborates the controller and observer system with all mathematical modeling of Twin Rotor MIMO System (TRMS) which is eminently nonlinear system. TRMS is 2 DOF (Degree of Freedom) helicopter model which originated in company called Feedback Instrument Limited for controlling and experimenting of different algorithms. Two DOFs i.e. Yaw and Pitch control need to control by using controller, that imply to track a desired path. Nowadays, the Unmanned Aerial Vehicles (UAV) has been tremendously useful for road traffic by video surveillance and supervisions for public purposes. Because of capacity to hover, helicopters can be used in any environmental conditions. Hence, Scope of TRMS studies has been increasing.

scholarly journals Complete dynamic model of the Twin Rotor MIMO System (TRMS) with experimental validation

2017 ◽  
Vol 66 ◽  
pp. 89-98 ◽  
Author(s):  
Azamat Tastemirov ◽  
Andrea Lecchini-Visintini ◽  
Rafael M. Morales-Viviescas
Keyword(s):  
Dynamic Model ◽  
Experimental Validation ◽  
Mimo System ◽  
Twin Rotor Mimo System ◽  
Twin Rotor
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