Twin Rotor Mimo System v1.1

Experiment: - Twin Rotor MIMO System.

Objective Observation:-

Procedure:$. Firstly, system simulation run and a nd observed the system behavior. The inputs were a pplied to pitch and yaw in non linearity with sin wave input and a nd step input. The non linearity sin and an d step input as follows. Pitch

yaw

Sin

Sin

Sin

Step

Step

Sin

Step

Step

And then separately to Sin and a nd step input only to Pitch and a nd Yaw.

Observations:-

The Model system

For the Sin to Pitch and Yaw I)

Pitch elevation

II)

Yaw azimuth

For the Step to Pitch and Sine toYaw

Pitch elevation

Yaw azimuth

For Sine to Pitch & Step to Yaw

Appling step only to Pitch.

Appling Sine only to Pitch

Appling Sine only to Yaw

Used

2DOF model

Model

Step Step input both Pith & Yaw

Pitch

to Step & Yow to Sine

Pitch

to Sine & Yow to Step

Pitch

to Sine & Step to Yow

Appling PID values to control model. (Pitch)

PID values.

Step input with PID values (3,8,10) respect to PID

PID 3 8 2

PID 3 1 10

PID 10 8 10

PID 3 20 10

PID to YAW

PID 2 0.5 15

PID=2 0.5 5

PID 2 5 5

R eal

time

PID 2 .5 5

PID= 3 8 10

With squire input

With disturbance

Flood