Research And Design Of The Twin Rotor MIMO Control System

With the development of modern technologics, control theory and technology is becoming more and more important. The application area of control technology is broad. With the purpose of the study of control theory and technology, control theory and system laboratory bought some advanced laboratory equipments. The Twin Rotor Multi-Input Multi-Output System is a laboratory set-up designed for control experiments. From the control point of view it exemplifies a high order non-linear complex system with significant cross-couplings. The study of complex system can be promoted by the study and design of TRMS. Firstly, the mathematical model is developed in this thesis. Simulation models of TRMS is developed in Matlab, include model of the horizontal part of TRMS, model of the vertical part of TRMS, 2-DOF model of TRMS. Secondly, 2-DOF system with simple PID controller and 2-DOF system with a cross-coupled PID controller are designed in Matlab. And the parameters of PID controller are tuned. Compared with the interactions between the horizontal and vertical of system with simple PID controller, the interactions of system with a cross-coupled PID controller is weak. Finally, this thesis puts forward a new method to optimize the TRMS using functions provided in optimization toolbox of Matlab. This method has been proved to be simple and practicable. It can have a shortcut conclusion.