AN EXPERIMENT FOR COMBINATION OF THE ACCURATE LINEAR CONTROLLER AND AN INPUT DISTURBANCE ESTIMATOR BASED ON TIME RECEDING OPTIMIZATION FOR TRMS IN THE LABORATORY

Abstract

This paper focuses on the Twin Rotor Multi-Input Multi-Output (TRMS) system in the laboratory with an advanced controller. For the theoretical background, this proposed controller includes a linearized controller and an input disturbance estimator based on time receding optimization. Some main experimental equipments such as a computer, a dSP1103 card, a physical TRMS, external disturbance generating equipment (electric fans) and connection cables are used. The MATLAB/Simulink software was used to set the parameters for the controller and the Control Desk software was connected to the dSP1103 Card to communicate, calculate and control the TRMS. Experimental conditions are performed on real equipments in cases of reference signals with step and sinusoidal functions with an external disturbance (wind from the fan). Experimental results showed that the output signals quickly and accurately tracked to the reference signals and the system worked stably in conditions having external disturbance.