Volume 24, Issue 2, June 2016, Pages 337–346
A.P.S. Ramalakshmi1, P.S. Manoharan2, K. Harshath3, and M. Varatharajan4
1 Department of Electrical and Electronics Engineering, K.L.N. College of Engineering, Madurai, Tamilnadu, India
2 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
3 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
4 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
Original language: English
Copyright © 2016 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the system is developed first which has a similar response to that of the real plant. This model is used as a reference to design a non-linear MPC for 2 DOF helicopter. The 2DOF helicopter can also be referred as TRMS (twin rotor MIMO system) because it has two rotor each at its head and tail. Irrespective of variations in reference signals and speed, the controller has a good response in terms of accuracy.
Author Keywords: MIMO system, 2 DOF, Non-linear MPC, TRMS.
A.P.S. Ramalakshmi1, P.S. Manoharan2, K. Harshath3, and M. Varatharajan4
1 Department of Electrical and Electronics Engineering, K.L.N. College of Engineering, Madurai, Tamilnadu, India
2 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
3 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
4 Department of Electrical and Electronics Engineering, Thiagarajar College of Engineering, Madurai, Tamilnadu, India
Original language: English
Copyright © 2016 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract
This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the system is developed first which has a similar response to that of the real plant. This model is used as a reference to design a non-linear MPC for 2 DOF helicopter. The 2DOF helicopter can also be referred as TRMS (twin rotor MIMO system) because it has two rotor each at its head and tail. Irrespective of variations in reference signals and speed, the controller has a good response in terms of accuracy.
Author Keywords: MIMO system, 2 DOF, Non-linear MPC, TRMS.
How to Cite this Article
A.P.S. Ramalakshmi, P.S. Manoharan, K. Harshath, and M. Varatharajan, “Model predictive control of 2DOF helicopter,” International Journal of Innovation and Scientific Research, vol. 24, no. 2, pp. 337–346, June 2016.
