Parameters Fuzzy Tuning Research Of The Twin Rotor MIMO System

With the development of modern sciences and technologies, control theory and technology is becoming more and more important. Control technology is applied in all kinds of fields. In order to deepen research and apply of control theory and technology, the control of Multi-input Multi-output System (abbr. TRMS) is researched in this thesis. From the control point of view, TRMS is a nonlinear, multivariable system with significant cross-couplings. It can efficiently reflect many important characteristics in the course of control, such as non-linearity, robustness, stability and decoupling, etc. The control strategies we used in TRMS can also be practically useful for designing control systems for general industry processes.The main tasks of the thesis include several aspects as follows. Firstly, some research work of TRMS is summarized home and abroad in this thesis. And TRMS is introduced including its characteristic. Then some methods of complex and nonlinear system control are introduced aimed at these characteristic of TRMS. Secondly, the mathematic model and the SIMULINK models of TRMS are presented, which include two 1-DOF (Degree of Freedom) models as well as a 2-DOF model. Thirdly, after analyzing the simple routine PID controllers of the TRMS 2-DOF models, because the strategy can not tune the TRMS PID parameters on line, PID parameters fuzzy tuning controller is designed and applied. Lastly, aimed at coupling characteristic of TRMS, decoupling control is applied. In order to make the parameters of decoupling self-adjusting on line, decoupling parameters fuzzy tuning controller is applied on TRMS. The simulated results suggest that compared to routine PID control PID parameter fuzzy tuning control may have better controlling effect. And applying decoupling control on TRMS may make control easy. In addition, the decoupling parameter fuzzy control can make better control effect than pure decoupling control.