Figure 1.
Twin Rotor MIMO System (TRMS)
Table 1.
The TRMS parameters – from the “feedback” manufacturer
| Parameters | Values |
|---|---|
| I1 – main rotor moment of inertia | 6.8.10-2 Kg/m2 |
| I2 – tail rotor moment of inertia | 2.10-2 Kg/m2 |
| a1 – nonlinearity parameters | 0.0135 |
| b1-nonlinearity parameters | 0.0924 |
| a2-nonlinearity parameters | 0.02 |
| b2-nonlinearity parameters | 0.09 |
| Mg-moment of gravity | 0.32 N.m |
| B1ψ – parameter of the friction moment function | 6.10-3 N.m.s/rad |
| B2ψ – parameter of the friction moment function | 1.10-3 N.m.s/rad |
| B1ϕ – parameter of the friction moment function | 1.10-1N.m.s/rad |
| B2ϕ – parameter of the friction moment function | 1.10-2 N.m.s/rad |
| Kgy – gyroscopic moment parameter | 0.5 S/rad |
| K1-gain of motor 1 | 1.1 |
| K2gain of motor 2 | 0.8 |
| T11 – motor 1 denominator parameter | 1.1 |
| T10 – motor 1 denominator parameter | 1 |
| T21 – motor 2 denominator parameter | 1 |
| T20 – motor 2 denominator parameter | 1 |
| Tp – coupling moment parameter | 2 |
| To – coupling moment parameter | 3.5 |
| Kc–-coupling moment gain | -0.2 |
Figure 2.
Pitch angle control by linearizing control in simulation
Figure 3.
An enlarged view of the first 5 seconds of Figure 2
Figure 4.
Yaw angle control by linearizing control in simulation
Figure 5.
An enlarged view of the first 5 seconds of Figure 4
Figure 6.
Trajectory tracking for the pitch angle controlled by the linearizing control in simulation
Figure 7.
Trajectory tracking for yaw angle controlled by linearizing control in simulation
Table 2.
Regulation error values
| Feedback-lin | ||
|---|---|---|
| M-A of error | Pitch | MAE = 0.0100 |
| Yaw | MAE = 0.0060 | |
| M-S of error | Pitch | MSE = 6.6811e−04 |
| Yaw | MSE = 4.4122e−04 | |
Table 3.
Tracking error values
| Feedback-lin | ||
|---|---|---|
| MA of error | Pitch | MAE = 0.0066 |
| Yaw | MAE = 0.0023 | |
| MS of error | Pitch | MSE = 5.7529−05 |
| Yaw | MSE = 7.0992e−06 | |
Figure 8.
Diagram of the TRMS
Figure 9.
Pitch control by linearizing control in experiment
Figure 10.
Experimental yaw control using the feedback linearizing control