Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2004). Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 218 (6), pp. 451-463.
|Authors||Ahmad, SM, Chipperfield, AJ and Tokhi, MO|
A dynamic model for the characterization of a two-degree-of-freedom (2DOF) twin-rotor multi-input multi-output system (TRMS) in hover is extracted using a black box system identification technique. Its behaviour in certain aspects resembles that of a helicopter, with a significant cross-coupling between longitudinal and lateral directional motions. Hence, it is an interesting identification and control problem. 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. Hence, this paper also investigates open-loop control strategies using shaped command inputs for resonance suppression in the TRMS. Digital low-pass and band-stop shaped inputs are used on the TRMS test bed, based on the identified vibrational modes. A comparative performance study is carried out and the results presented. The low-pass filter is shown to exhibit better vibration reduction. When modal coupling exists, decoupled feedback controllers are incapable of eliminating vibration. In such cases, generating motion by shaped reference inputs is clearly advantageous.
|Journal||Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering|
|Journal citation||218 (6), pp. 451-463|
|Digital Object Identifier (DOI)||doi:10.1243/0959651052010089|
|01 Sep 2004|
|Online||05 Aug 2016|
|Publication process dates|
|Submitted||01 Aug 2004|
|Deposited||29 Apr 2020|
|Accepted author manuscript|
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