Real-Time Performance Analysis of PIDD2 Controller for Nonlinear Twin Rotor TITO Aerodynamical System | Journal of Intelligent & Robotic Systems
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Real-Time Performance Analysis of PIDD2 Controller for Nonlinear Twin Rotor TITO Aerodynamical System

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Abstract

Twin-rotor two-input two-output (TITO) aerodynamical system (TRAS) is a highly non-linear system with a cross-coupling effect. The objective of the controller design in TRAS is to track the trajectory of azimuth and pitch angles, reach the desired azimuth and pitch angle positions, and stabilize TRAS in the presence of significant cross-coupling. The coupling effect between the main rotor and tail rotor is a severe issue for the controller design. So, this paper proposes a proportional integral derivative double derivative (PIDD2) controller design for TRAS, first time. Further, the tuning of PIDD2 controller is carried out via a modified grey wolf optimizer (MGWO). Besides, the real-time hardware-in-loop (HIL) implementation of the PIDD2 controller with the TRAS laboratory prototype setup is carried out, first-time. Moreover, It is tested under external disturbances for robustness and effectiveness analyses. In addition, this paper performs both simulations as well as hardware results analyses. These analyses reveal that the experimental results are found to match closely with simulation results. Finally, the efficacy of the proposed control design approach is presented by comparing it with the recently published controldesign schemes.

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Abbreviations

α h :

horizontal position (azimuth position) of TRAS beam (in rad)

Ω h :

angular velocity (azimuth velocity) of TRAS beam (in rad/s)

U h :

horizontal DC motor PWM control input

ω h :

rotational speed of tail rotor (in rad/s); nonlinear function ωh = ω(Uh,t)

F h :

aerodynamic force from tail rotor (in N); nonlinear function Fh = Fh(ωh)

l h :

effective arm of aerodynamic force from tail rotor (in m) ; lh = lh(αv)

J h :

non-linear function of moment of inertia with respect to vertical axis (in kgm2)

M h :

horizontal turning torque (in Nm)

K h :

horizontal angular momentum (in Nm-s)

f h :

frictional coefficient in a horizontal plane

α v :

vertical position (pitch position) of TRAS beam (in rad)

Ω v :

angular velocity (pitch velocity) of TRAS beam (in rad/s)

U v :

vertical DC motor PWM control input

ω v :

rotational speed of main rotor (in rad/s); nonlinear function \(\omega _{v}=H_{v}\left (U_{v},t\right )\)

F v :

aerodynamic force from main rotor (in N); nonlinear function Fv = Fv(ωv)

l v :

arm of aerodynamic force from main rotor

M v :

vertical turning torque (in Nm)

K v :

vertical angular momentum (in Nm-s)

f v :

frictional coefficient in a vertical plane

M v1 :

return torque corresponding to the forces of gravity

g :

gravitational acceleration

M v2 :

moment of the propulsive force produced by the main rotor

a 1, a 2 :

constant

M v3 :

moment of the centrifugal forces corresponding to the motion of the beam around the vertical axis

M v4 :

moment of friction depending on the angular velocity of beam around the horizontal axis

M v5 :

cross moment from Uh

M v6 :

damping torque from rotating propeller

I h :

moment of inertia of the tail rotor

I v :

moment of inertia of the main rotor

J v :

moment of inertia with respect to horizontal axis

m m r :

mass of the main DC-motor with main rotor

m m :

mass of the main part of the beam

m t r :

mass of the tail motor with tail rotor

m t :

mass of the tail part of the beam

m c b :

mass of the counter-weight

m b :

mass of the counter-weight beam

m m s :

mass of the main shield

m t s :

mass of the tail shield

l m :

length of the main part of the beam

l t :

length of the tail part of the beam

l b :

length of the counter-weight beam

l c b :

distance between the counter-weight and the joint

r m s :

radius of the main shield

r t s :

radius of the tail shield

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Authors and Affiliations

  1. Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India

    Mahendra Kumar & Yogesh V. Hote

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  1. Mahendra Kumar
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Contributions

Mahendra Kumar: Conceptualiz ation, Methodology, Investigation, Software, Validation, Writing- Original Draft Preparation.

Yogesh V. Hote: Supervision, Writing-Review And Editing.

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Correspondence to Mahendra Kumar.

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Supplementary Materials

The video recording of the experimental hardware setup of TRAS for azimuth and pitch angle responses using the proposed control design approach with and without external disturbances are added in the below link as: https://drive.google.com/file/d/14YqefVirdnTTiQkM3bso5BoymmT6Y98V/view?usp=sharing

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Kumar, M., Hote, Y.V. Real-Time Performance Analysis of PIDD2 Controller for Nonlinear Twin Rotor TITO Aerodynamical System. J Intell Robot Syst 101, 55 (2021). https://doi.org/10.1007/s10846-021-01322-4

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