REAL TIME CONTROL OF TWIN ROTOR MIMO SYSTEM WITH PID AND FRACTIONAL ORDER PID CONTROLLER

Abstract

This paper presents real-time control applications for the TRMS system. The twin rotor helicopter model has some complex features which make it difficult to control and therefore it can be used an ideal test setup for control applications. In this study, firstly, twin rotor helicopter model is run in real time and mathematical models are determined. According to the mathematical models, fractional order PID controller designs are realized by using Genetic Algorithm and real time pitch and yaw position control of the twin rotor helicopter model is provided. In the optimization algorithm, fractional order PID controller parameters were determined according to four different integral performance criteria. In real-time control of TRMS, integral performance criteria are compared with each other and the results are presented in figures. The results show that the real-time control of the system has been successfully performed using fractional order PID controller.