Inverse model based control for a twin rotor system

摘要

The use of active control technique has intensified in various control applications, particularly in the field of aircraft systems. A laboratory set-up system which resembles the behaviour of a helicopter, namely twin rotor multi-input multi-output system (TRMS) is used as an experimental rig in this research. This paper presents an investigation using inverse model control for the TRMS. The control techniques embraced in this work are direct inverse-model control, augmented PID with feedforward inverse-model control and augmented PID with feedback inverse-model control. Particle swarm optimization (PSO) method is used to tune the parameter of PID controller. To demonstrate the applicability of the methods, a simulated hovering motion of the TRMS, derived from experimental data is considered. The proposed inverse model based controller is shown to be capable of handling both systems dynamic as well as rigid body motion of the system, providing good overall system performance.