Construction, Modelling and control of an experimental helicopter (TRMS)

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Mehdipour Habib; Moosapour Seyyed Sajjad; Keramatzadeh Mehrdad

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Journal Paper

Paper Information

Journal: Journal of Control Year:2021 | Volume:15 | Issue:2 Page(s): 51-68

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Information Journal Paper

Title

Construction, Modelling and control of an experimental helicopter (TRMS)

Author(s)

Mehdipour Habib | Moosapour Seyyed Sajjad | Keramatzadeh Mehrdad | Issue Writer Certificate

Keywords

TRMS

twin rotor MIMO system

experimental helicopter

identification

Sequential loop closing

Abstract

In this paper, a two-input two-output experimental TRMS model helicopter is designed and built to investigate and test different identification and control algorithms. First, the steps required (software and hardware) to design, build, and operate this two-degree-of-freedom system are stated. Then, laboratory system is identified and modeled using physical laws governing the system and their analysis, as well as with the determination method and some classical identification methods to determine the parameters, and a highly nonlinear dynamic with interaction effect for the system is achieved. In addition, the two-input two-output system is transformed into two decoupled singleinput single-output subsystems and each PID controller is individually designed for a subsystem. Also, considering the interaction effect for the two-input two-output system, a PID controller is designed and implemented using Sequential loop closing (SLC) method. For validation, the practical results of the implementation are compared with the simulation results in Matlab software. The results show the validity of the extracted model as well as the effective performance of the controller.

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APA: Copy

Mehdipour, Habib, Moosapour, Seyyed Sajjad, & Keramatzadeh, Mehrdad. (2021). Construction, Modelling and control of an experimental helicopter (TRMS). JOURNAL OF CONTROL, 15(2 ), 51-68. SID. https://sid.ir/paper/954576/en

Vancouver: Copy

Mehdipour Habib, Moosapour Seyyed Sajjad, Keramatzadeh Mehrdad. Construction, Modelling and control of an experimental helicopter (TRMS). JOURNAL OF CONTROL[Internet]. 2021;15(2 ):51-68. Available from: https://sid.ir/paper/954576/en

IEEE: Copy

Habib Mehdipour, Seyyed Sajjad Moosapour, and Mehrdad Keramatzadeh, “Construction, Modelling and control of an experimental helicopter (TRMS),” JOURNAL OF CONTROL, vol. 15, no. 2 , pp. 51–68, 2021, [Online]. Available: https://sid.ir/paper/954576/en

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