Design of a soft sensing technique for measuring pitch and yaw angular positions for a Twin Rotor MIMO System

Background: This paper presents a soft sensor design technique for the estimation of pitch and yaw angular positions of a Twin Rotor MIMO System (TRMS). The objective of the proposed work was to calculate the value of pitch and yaw angular positions using a stochastic estimation technique. Methods: Measurements from optical sensors were used to measure fan blade rotations per minute (RPM). The Kalman filter, which is a stochastic estimator, was used in the proposed system and its results were compared with those of the Luenberger observer and neural network. The Twin Rotor MIMO System is a nonlinear system with significant cross-coupling between its rotors. Results: The estimators were designed for the decoupled system and were applied in real life to the coupled TRMS. The convergence of estimation to the actual values was checked on a practical setup. The Kalman filter estimators were evaluated for various inputs and disturbances, and the results were corroborated in real-time. Conclusion: From the proposed work it was seen that the Kalman filter had at least Integral Absolute Error (IAE), Integral Square Error (ISE), Integral Time Absolute Error (ITAE) as compared to the neural network and the Luenberger based observer.

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

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.

A Multivariable Twin-Rotor System Control Design

This paper presents the design of a Multi-Input Multi-Output (MIMO) PID controller for a twin-rotor MIMO system. A multivariable control system consisting of two loops is designed for a non-linear system with two inputs and two outputs. The designed controllers have been tested on a simulated model with different possibilities and real-time results were taken. The designed PID controller efficiently controls the loops of the system and does not suffer from any process interactions. The results indicate that the performance of the PID controllers is excellent and both the transient and the steady-state enactment are adequate. The yaw and pitch rotor’s real-time responses are almost the same as the desired ones.