Lab No.

05
2016

Date: 07-04Lab Report

Abstract:
The paper deals with modelling of a Twin Rotor MIMO System a laboratory
model constructed by Feedback Instruments Ltd. The system consists of a
two rotors which resembles a simple helicopter. The non-stationary part of
the model can rotate around two perpendicular axes to produce azimuth and
elevation output of the system. These outputs are affected by speed of the
rotors. Significant cross-coupling can be observed and the system behaviour
is nonlinear. A model based on firstprinciple modelling was derived and is
parameters were refined by identification based on real-time experiments.
Resulting model was designed in MATLAB/Simulink environment and can
serve for control design

Objective:
To get an overview of Twin Rotor MIMO System (TRMS) Apparatus based upon
the gyroscopic motion and observe its basic principles.

Introduction:
The goal of the work was to obtain a mathematical model of the Twin Rotor
MIMO System [8] and to design the model in MATLAB-Simulink environment.
The Twin Rotor MIMO System was developed by Feedback Instruments Ltd.
and serves as a real-time model of nonlinear multidimensional system. The
major reason for creating the model of this laboratory equipment was usage
of the model in control design process. A model, which represents the plant
well, can considerably reduce testing time of different control approaches.
Then only promising control strategies are applied to the real plant and
verified.

Twin Rotor MIMO System:

A photograph of the Twin Rotor MIMO System is presented in Fig. 1. The
system is used to demonstrate the principles of a non-linear MIMO system,
with significant cross-coupling. Its behaviour resembles a helicopter but
contrary to most flying helicopters the angle of attack of the rotors is fixed
and the aerodynamic forces are controlled by varying the speeds of the
motors. Significant cross-coupling is observed between the actions of the
rotors, with each rotor influencing both angle positions [9]. Some aspects of
the plant behaviour are similar to flying helicopters [10]. There are two

propellers driven by DC-motors at both ends of a beam, which is pivoting on

its base. The joint allows the beam to rotate in such a way that its ends move
on spherical surfaces. There is a counter-weight fixed to the beam and it
determines a stable equilibrium position. The controls of the system are the
motors supply voltages. The measured signals are position of the beam in
the space, i.e. two position angles [11].

Model Parameters:
The model parameters are shown in table 1.

Exercise No. 1:
Model Testing
Load matlab and the menu systemusing the windows start menu.
Matlab will run and the simulink model menu will open. This contain
the options as shown in fig. 6:

 Double click on the TRMS Simulation Model block in the main menu,
a sun menu will open as:

To begin with, the user is advised to check the responces of the TRMS
Non Linear Model alone with zero, constant and sinosidal voltage
applied to both rotors.

Related Terminologies:
Gyroscopic motion:
A gyroscope is a spinning wheel or disc in which the axis of rotation is free
to assume any orientation by itself. When rotating, the orientation of this
axis is unaffected by tilting or rotation of the mounting, according to the
conservation of angular momentum. Because of this, gyroscopes are
useful for measuring or maintaining orientation.

Yaw Moment:

Yaw moment is a componet of torque about the yaw axis.Basically yaw

motion is the motion around the yaw axis of a rigid body that changes the
direction of its pointing to the left or right of its direction of motion.

Pitch Moment:

The pitch moment is the moment produce by a force on the body if that
force is consider to be applied not on the centre of pressure but on the
geometric centre of the body.

Applications:

Computer pointing devices

Racing cars
Motor bikes
Spinning tops
Gyro Compasses
Ship stabilizers
Robotics
Artificial Horizon/Auto-pilots

Results and Comments:

The following figure represent the response of the step input from 0 to 1
of the input voltage.

Conclusion:
From the experiment, we conclude that the basic principle on which a Twin
Rotor works is that of gyroscopic motion. The change in rotation of rotors
brings a change in the pitch axis as well as in the yaw axis. This is all
about the gyroscopic phenomenon. We can observe the output behaviour
on the compuer screen using built in MATLAB software.