Abstract
In this paper we develop a complete dynamic model of the Twin Rotor MIMO System (TRMS) using the Euler–Lagrange method. Our model improves upon the model provided by the manufacturer in the user manual and upon previous models of the TRMS which can be found in the literature. The complete procedure for the model parameters’ estimation and validation is illustrated.
Highlights
The Twin Rotor MIMO Systems (TRMS) — shown in Figure 1 — consists of a beam rotating freely in the vertical plane about the end of a pivoted beam, which in turn rotates in the horizontal plane about a fixed point
The yaw feedback control generated a a control torque along the yaw angle according to a Proportional Derivative (PD) action converted into a tail motor control signal
We have rigorously developed a complete dynamic model of the TRMS
Summary
The Twin Rotor MIMO Systems (TRMS) — shown in Figure 1 — consists of a beam rotating freely in the vertical plane (pitch) about the end of a pivoted beam, which in turn rotates in the horizontal plane (yaw) about a fixed point. The TRMS is characterised by a highly non-linear and cross-coupled dynamics, and is a challenging system to control For this reason, it has been the subject of many works over the last decade see e.g. An extensive attempt to overcome the limitations of these models was made in [3], where an updated version of the Newtonian model provided by the manufacturer and a new model, derived following an Euler-Lagrange approach, were presented. We adopt the modelling methodology presented in [8], where it was applied to a similar system called Toycopter This approach is characterised by the use of body-fixed frames of reference to express all vector quantities of the translating parts, a choice which significantly simplifies the calculation of the kinetic energies. A preliminary version of this paper was presented at the 39th European Rotorcraft Forum [9]
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