Dynamic modelling and optimal control of a twin rotor MIMO system

S. M. Ahmad; A. J. Chipperfield; M. O. Tokhi

Dynamic modelling and optimal control of a twin rotor MIMO system

S. M. Ahmad^*
, A. J. Chipperfield
, M. O. Tokhi

^*Corresponding author for this work

Research output: Contribution to conference › Paper › peer-review

67 Scopus citations

Abstract

A dynamic model for the characterizing 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.

Original language	English
Pages	391-398
Number of pages	8
State	Published - 2000
Externally published	Yes
Event	IEEE 2000 National Aerospace and Electronics Conference (NAECON 2000) - Dayton, OH, USA Duration: 10 Oct 2000 → 12 Oct 2000

Conference

Conference	IEEE 2000 National Aerospace and Electronics Conference (NAECON 2000)
City	Dayton, OH, USA
Period	10/10/00 → 12/10/00

ASJC Scopus subject areas

General Engineering

Cite this

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title = "Dynamic modelling and optimal control of a twin rotor MIMO system",

abstract = "A dynamic model for the characterizing 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.",

author = "Ahmad, \{S. M.\} and Chipperfield, \{A. J.\} and Tokhi, \{M. O.\}",

year = "2000",

language = "English",

pages = "391--398",

note = "IEEE 2000 National Aerospace and Electronics Conference (NAECON 2000) ; Conference date: 10-10-2000 Through 12-10-2000",

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T1 - Dynamic modelling and optimal control of a twin rotor MIMO system

AU - Ahmad, S. M.

AU - Chipperfield, A. J.

AU - Tokhi, M. O.

PY - 2000

Y1 - 2000

N2 - A dynamic model for the characterizing 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.

AB - A dynamic model for the characterizing 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.

UR - https://www.scopus.com/pages/publications/0034427524

M3 - Paper

AN - SCOPUS:0034427524

SP - 391

EP - 398

T2 - IEEE 2000 National Aerospace and Electronics Conference (NAECON 2000)

Y2 - 10 October 2000 through 12 October 2000

ER -

Dynamic modelling and optimal control of a twin rotor MIMO system

Abstract

Conference

ASJC Scopus subject areas

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