A Multivariable Twin-Rotor System Control Design
Received: 11 November 2020 | Revised: 6 December 2020 | Accepted: 14 December 2020 | Online: 20 January 2021
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.
Keywords:PID controller, MIMO, non-linear system
N. A. Stanton, K. L. Plant, A. P. Roberts, C. Harvey, and T. G. Thomas, "Extending helicopter operations to meet future integrated transportation needs," Applied Ergonomics, vol. 53, pp. 364-373, Mar. 2016. https://doi.org/10.1016/j.apergo.2015.07.001
J.-G. Juang, R.-W. Lin, and W.-K. Liu, "Comparison of classical control and intelligent control for a MIMO system," Applied Mathematics and Computation, vol. 205, no. 2, pp. 778-791, Nov. 2008. https://doi.org/10.1016/j.amc.2008.05.061
J.-G. Juang, W.-K. Liu, and R.-W. Lin, "A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation," ISA Transactions, vol. 50, no. 4, pp. 609-619, Oct. 2011. https://doi.org/10.1016/j.isatra.2011.06.006
H. Prabha and R. Kumar, "Real Time Experimental control and Design of FOPIλ and L-PID Controllers tuned by Invasiveweed optimization for Trajectory Control of TRAS," in 2020 International Conference on Power Electronics IoT Applications in Renewable Energy and its Control (PARC), Mathura, Uttar Pradesh, India, Feb. 2020, pp. 148-152. https://doi.org/10.1109/PARC49193.2020.236577
P. Bulucu, M. U. Soydemir, S. Şahin, A. Kocaoğlu, and C. Güzeliş, "Learning Stable Robust Adaptive NARMA Controller for UAV and Its Application to Twin Rotor MIMO Systems," Neural Processing Letters, vol. 52, no. 1, pp. 353-383, Aug. 2020. https://doi.org/10.1007/s11063-020-10265-0
G. Kavuran, B. B. Alagoz, A. Ates, and C. Yeroglu, "Implementation of Model Reference Adaptive Controller with Fractional Order Adjustment Rules for Coaxial Rotor Control Test System," Balkan Journal of Electrical and Computer Engineering, vol. 4, no. 2, pp. 84-88, Sep. 2016.
G. Shivani, A. Jamodkar, and J. Pandian B. M. E., "Modeling and Implementation of Adaptive Control Technique on a TRMS Model," International Journal of Innovative Technology and Exploring Engineering, vol. 8, no. 8, pp. 1015-1020, Jun. 2019. https://doi.org/10.35940/ijitee.F1209.0486S419
O. Castillo, F. Kutlu, and Ö. Atan, "Intuitionistic fuzzy control of twin rotor multiple input multiple output systems," Journal of Intelligent & Fuzzy Systems, vol. 38, no. 1, pp. 821-833, Jan. 2020. https://doi.org/10.3233/JIFS-179451
S. Zeghlache and N. Amardjia, "Real time implementation of non linear observer-based fuzzy sliding mode controller for a twin rotor multi-input multi-output system (TRMS)," Optik, vol. 156, pp. 391-407, Mar. 2018. https://doi.org/10.1016/j.ijleo.2017.11.053
Y. Liu, S. Xu, S. Hashimoto, and T. Kawaguchi, "A Reference-Model-Based Neural Network Control Method for Multi-Input Multi-Output Temperature Control System," Processes, vol. 8, no. 11, Nov. 2020, Art. no. 1365. https://doi.org/10.3390/pr8111365
R. Maiti, K. D. Sharma, and G. Sarkar, "PSO based parameter estimation and PID controller tuning for 2-DOF nonlinear twin rotor MIMO system," International Journal of Automation and Control, vol. 12, no. 4, 2018, Art. no. 582. https://doi.org/10.1504/IJAAC.2018.095109
A. Saha and S. Chakraborty, "Genetic algorithm based I-PD controller design for Twin Rotor MIMO system," in 2016 2nd International Conference on Control, Instrumentation, Energy Communication (CIEC), Kolkata, India, Jan. 2016, pp. 15-19. https://doi.org/10.1109/CIEC.2016.7513826
A. Jafar, A. I. Bhatti, S. M. Ahmad, and N. Ahmed, "H∞Optimization-based robust decoupling control algorithm in linear parameter varying systems using Hadamard weighting," Transactions of the Institute of Measurement and Control, vol. 41, no. 7, pp. 1833-1848, Apr. 2019. https://doi.org/10.1177/0142331218788121
H. Bassi and Y. A. Mobarak, "State-Space Modeling and Performance Analysis of Variable-Speed Wind Turbine Based on a Model Predictive Control Approach," Engineering, Technology & Applied Science Research, vol. 7, no. 2, pp. 1436-1443, Apr. 2017. https://doi.org/10.48084/etasr.1015
S. Babesse, "Design of Two Optimized Controllers of a Hydraulic Actuator Semi-Active Suspension: A Comparison Study," Engineering, Technology & Applied Science Research, vol. 9, no. 4, pp. 4561-4565, Aug. 2019. https://doi.org/10.48084/etasr.2836
S. Khandelwal and K. P. Detroja, "The optimal detuning approach based centralized control design for MIMO processes," Journal of Process Control, vol. 96, pp. 23-36, Dec. 2020. https://doi.org/10.1016/j.jprocont.2020.10.006
E. C. goud, S. Rao A., and M. Chidambaram, "Improved Decentralized PID Controller design for MIMO Processes," IFAC-PapersOnLine, vol. 53, no. 1, pp. 153-158, Jan. 2020. https://doi.org/10.1016/j.ifacol.2020.06.026
S. K. Pandey, J. Dey, and S. Banerjee, "Design and real-time implementation of robust PID controller for Twin Rotor MIMO System (TRMS) based on Kharitonov's theorem," in 2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES), Delhi, India, Jul. 2016, pp. 1-6. https://doi.org/10.1109/ICPEICES.2016.7853106
N. M. H. Norsahperi and K. A. Danapalasingam, "Particle swarm-based and neuro-based FOPID controllers for a Twin Rotor System with improved tracking performance and energy reduction," ISA Transactions, vol. 102, pp. 230-244, Jul. 2020. https://doi.org/10.1016/j.isatra.2020.03.001
R. Maiti, K. D. Sharma, and G. Sarkar, "Adaptive Fuzzy Low-pass Filter Based L1 Adaptive Controller Design for Twin Rotor MIMO System," in 2019 IEEE Region 10 Symposium (TENSYMP), Kolkata, India, Jun. 2019, pp. 744-749. https://doi.org/10.1109/TENSYMP46218.2019.8971315
A. Tastemirov, A. Lecchini-Visintini, and R. M. Morales-Viviescas, "Complete dynamic model of the Twin Rotor MIMO System (TRMS) with experimental validation," Control Engineering Practice, vol. 66, pp. 89-98, Sep. 2017. https://doi.org/10.1016/j.conengprac.2017.06.009
X. Yang, J. Cui, D. Lao, D. Li, and J. Chen, "Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS)," ISA Transactions, vol. 62, pp. 287-298, May 2016. https://doi.org/10.1016/j.isatra.2016.02.001
How to Cite
MetricsAbstract Views: 433
PDF Downloads: 378
Copyright (c) 2020 Authors
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.