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首页> 外文期刊>IETE Technical Review >Real-Time Performance Analysis of FOI-PD Controller for Twin Rotor MIMO System
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Real-Time Performance Analysis of FOI-PD Controller for Twin Rotor MIMO System

机译:双转子MIMO系统FOI-PD控制器的实时性能分析

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摘要

Designing a controller for the Twin Rotor MIMO System (TRMS) is a challenging task due to the presence of high non-linearity and cross-coupling between different elements. In this paper, a Fractional Order Integral-Proportional Derivative (FOI-PD) controller has been realized and implemented in both simulation and real-time for the control of pitch and yaw angle of the TRMS. The novelty of the present work lies in the implementation of the robust FOI-PD controller, which has not yet been explored by the researchers for the TRMS kit to the best of authors' knowledge. The nonlinear interior point optimization technique (fmincon function available in MATLAB optimization toolbox) has been utilized to identify the suitable controller parameter values by minimizing the cost functions within a predefined interval of controller parameters. The transient performance of the FOI-PD controller is studied and compared with those of the IOPID and IOI-PD controller. The observation reveals that the FOI-PD controller outperforms both the IOPID and IOI-PD controller in terms of overshoot and settling time. It has been further observed that the control signal gets improved as the structure moves from the PID to I-PD and integer order to the fractional order. The robustness analysis has also been incorporated to show the effectiveness of the FOI-PD controller.
机译:设计用于双转子MIMO系统(TRMS)的控制器是由于存在高非线性和不同元件之间的交叉耦合而具有具有挑战性的任务。在本文中,在模拟和实时实现和实现了分数一体的积分 - 比例衍生物(FOI-PD)控制器,用于控制TRMS的间距和偏航角的模拟和实时。本工作的新颖性在于实施强大的FOI-PD控制器,该控制器尚未探讨TRMS套件的研究人员才能获得最佳作者的知识。已经利用非线性内部点优化技术(MATLAB优化工具箱中的Fmincon功能)来通过最小化控制器参数的预定间隔内的成本函数来识别合适的控制器参数值。研究了FOI-PD控制器的瞬态性能,并与IOPID和IOI-PD控制器的瞬态性能进行了比较。观察结果揭示了FOI-PD控制器在过冲和稳定时间方面优于Iopid和IOI-PD控制器。进一步观察到,随着结构从PID移动到I-PD和整数顺序的整数顺序,控制信号得到改善。还纳入了稳健性分析,以显示FOI-PD控制器的有效性。

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