Control of 2-Dof Trms Mimo System Using Fopid & Fostsmc Method

Abstract

The control design of a helicopter twin rotor multiple-input and multiple-output (TRMS) nonlinear System with two degree freedom is a very complex work. The TRMS system consists of the main and tail rotors connected by a beam. In order to balance the TRMS system, both rotors angles are made by changing the speeds of the DC motors to which the rotors are connected.In order to ensure that the TRMS system works in balance, Proportional-integral-derivative (PID), Fractional order PID (FOPID), Sliding mode (SMC), Super twisting sliding mode (STSMC) and Fractional order super twisting sliding mode (FOSTSMC) control methods was used. Simulation studies were carried out in the MATLAB/Simulink program to determine the control parameters. Experimental studies were carried out using the most successful methods found in simulation studies. In both simulation and experimental studies, the main propeller FOPID and tail propeller FOSTSMC method gave the best results compared to other control methods.