基于遗传算法的双转子MIMO系统I-PD控制器设计

Ayan Saha, S. Chakraborty
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引用次数: 5

摘要

飞行器的控制是一项非常具有挑战性的任务,因为它具有高度的非线性和不同元件之间的耦合性。双旋翼MIMO系统(TRMS)套件是设计用于进行实验室实验的直升机原型。最常见和最简单的技术是在设计过程中使用PID控制器。本文提出了一种简单的I-PD控制器的设计与实现。我们比较了PID控制器和I-PD控制器得到的结果,发现I-PD控制器得到的结果更令人满意。该方案进一步满足了系统的鲁棒性条件。
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Genetic algorithm based I-PD controller design for Twin Rotor MIMO system
The control of air vehicles is a very challenging task due to the presence of high nonlinearity and coupling between different elements. Twin Rotor MIMO System (TRMS) kit is a prototype of a helicopter designed for conducting laboratory experiments. The most common and simplest technique is to use a PID controller for the design process. Here in this paper we propose a simple design and implementation of an I-PD controller. We compare the results obtained from PID controller and I-PD controller and the results are found to be more satisfactory in case of I-PD controller. Further this scheme satisfies the robust condition of the plant.
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