Control of Twin Rotor MIMO System Using 1-Degree-of-Freedom PID, 2-Degree-of-Freedom PID and Fractional order PID Controller

摘要

Control design of a TRMS system resembling helicopter is very complicated task. Since it is highly non-liner system, which makes the controller design for TRMS system very complex problem. TRMS system is connected with two rotors, in which first one is main rotor and the other is tail rotor. This is based on a beam, supported by a counter balance. Two degrees of freedom (2DOF) PID controller and FOPID controller model of TRMS involving horizontal and vertical plane has been obtained for controller design. 2-DOF PID and FOPID controller both have been discussed in this paper. With the Simulation results obtained for vertical and horizontal plane, factional order PID controller has been found to be better than 2-DOF controller. The results of all the simulation work has been performed on the MATLAB/Simulink environment.