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Modelling and control of a twin rotor multi-input multi-output system

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3 Author(s)
Ahmad, S.M. ; Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK ; Chipperfield, A.J. ; Tokhi, M.O.

A dynamic model for the characterisation of a one-degree-of-freedom (DOF) twin rotor MIMO 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. Identification for a 1 DOF rigid-body, discrete-time linear model is presented in detail. 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, the paper also investigates open-loop control strategies using shaped command inputs for resonance suppression in the TRMS. Digital low-pass and band-stop (Butterworth) shaped inputs are used on the TRMS testbed, 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

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American Control Conference, 2000. Proceedings of the 2000  (Volume:3 )

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