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Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)

Twin Rotor MIMO System (TRMS) is a dynamic model with high non-linearity that resembles a helicopter with reduced degree-of-freedom (DOF). Besides, cross-coupling between main rotor and tail rotor contributes to the difficulty in controlling the system. Majority of the previous researches have not f...

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Bibliographic Details
Main Author: Cheah , Zong Yuan
Format: Final Year Project
Language:English
Published: IRC 2016
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://utpedia.utp.edu.my/17092/1/Dissertation.pdf
http://utpedia.utp.edu.my/17092/
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spelling my-utp-utpedia.170922017-01-25T09:34:31Z http://utpedia.utp.edu.my/17092/ Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS) Cheah , Zong Yuan TK Electrical engineering. Electronics Nuclear engineering Twin Rotor MIMO System (TRMS) is a dynamic model with high non-linearity that resembles a helicopter with reduced degree-of-freedom (DOF). Besides, cross-coupling between main rotor and tail rotor contributes to the difficulty in controlling the system. Majority of the previous researches have not focused on continuous actual dynamic disturbance test. The objectives of this project are to model TRMS and control the system against major disturbance (wind effect) and set-point changes. The first phase of the project started with mathematical modelling of direct current (DC) motors, where the relationship between input voltage and angular velocity was captured. The next phase would be the modelling of the whole system and design of controller. During the second phase, the modelling would involve aerodynamics and other Physics laws. Once the complete model was formed, Proportional, Integral and Derivative (PID) and Linear Quadratic Regulator (LQR) controllers were designed to optimize the dynamic system. The system has been tested using wind variation as actual dynamic disturbance to validate the disturbance rejection performance. It was found that the best performance from combination of PID and LQR controllers gave 89% improvement in term of pitch overshoot and 33% improvement in term of yaw overshoot during disturbance rejection compared to PID-only controller. IRC 2016-01 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/17092/1/Dissertation.pdf Cheah , Zong Yuan (2016) Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS). IRC, Universiti Teknologi PETRONAS. (Submitted)
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Electronic and Digitized Intellectual Asset
url_provider http://utpedia.utp.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Cheah , Zong Yuan
Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
description Twin Rotor MIMO System (TRMS) is a dynamic model with high non-linearity that resembles a helicopter with reduced degree-of-freedom (DOF). Besides, cross-coupling between main rotor and tail rotor contributes to the difficulty in controlling the system. Majority of the previous researches have not focused on continuous actual dynamic disturbance test. The objectives of this project are to model TRMS and control the system against major disturbance (wind effect) and set-point changes. The first phase of the project started with mathematical modelling of direct current (DC) motors, where the relationship between input voltage and angular velocity was captured. The next phase would be the modelling of the whole system and design of controller. During the second phase, the modelling would involve aerodynamics and other Physics laws. Once the complete model was formed, Proportional, Integral and Derivative (PID) and Linear Quadratic Regulator (LQR) controllers were designed to optimize the dynamic system. The system has been tested using wind variation as actual dynamic disturbance to validate the disturbance rejection performance. It was found that the best performance from combination of PID and LQR controllers gave 89% improvement in term of pitch overshoot and 33% improvement in term of yaw overshoot during disturbance rejection compared to PID-only controller.
format Final Year Project
author Cheah , Zong Yuan
author_facet Cheah , Zong Yuan
author_sort Cheah , Zong Yuan
title Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
title_short Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
title_full Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
title_fullStr Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
title_full_unstemmed Nonlinear Model Predictive Control (NMPC) for Twin Rotor MIMO System (TRMS)
title_sort nonlinear model predictive control (nmpc) for twin rotor mimo system (trms)
publisher IRC
publishDate 2016
url http://utpedia.utp.edu.my/17092/1/Dissertation.pdf
http://utpedia.utp.edu.my/17092/
_version_ 1739832343848288256
score 13.211869

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