Study On Control Method Based On 3-DOF Twin Rotor Multi-Input Multi-Output System

With the development of modem technologies, control theory and technology is becoming more and more important The application area of control technology is broad. The Helicopter Multi-Input Multi-Output System is a laboratory set-up designed for control experiments designed by GuGao Company. As a laboratory set-up, its appearance is intuitionistic, its structure is easy, its costs is very two-bit. As a object, it is a high order non-linear 3-Dof multi-input multi-output complex system with significant cross-couplings. It can be stable by adding effective control method. The stabilization effect of the helicopter system is very clear. We can control the elevation angle, pitch angle and travel angle, and the control effect is very clear. The study of complex system can be promoted by the study and design of this system.Firstly, the mathematical model is developed in this thesis. Models of the Helicopter Multi-Input Multi-Output System is developed in Matlab, include model of the horizontal part of system, model of the vertical part of system, model of the pitch part of system, 3-DOF model of system.Secondly, all kinds of usual state space design methods of traditional control theory are introduced include PID control and optimization control system with LQR controller. Single PID controller and LQR controller are designed in this paper. We adjust parameters of PID controller, and analyze the simulation results of the PID control system and LQR optimization control system.Traditional control theory is researched based on precise object model. A better control system can be designed for linear object applying traditional control theory, butit is helpless without linear mathematical model of object PID control system based on RBF neural network and CMAC controller are designed for helicopter system in this paper.Finally, the MATLAB real-time control system of the helicopter system are designed in this paper.