Abu Dhabi University MEC 412 – Dynamic and Control Systems Lab

Experiment 6

Pitch Angle Control

Feedback Twin Rotor MIMO System (TRMS)

Objectives:

1- Observe sinusoidal response in the Twin Rotor control system for pitch angle control.
2- Understand the use of PID controller in Twin Rotor system
3- Have insight on MISO & MIMO Control systems
Abu Dhabi University MEC 412 – Dynamic and Control Systems Lab

Theory:

Apparatus:
Abu Dhabi University MEC 412 – Dynamic and Control Systems Lab

Procedure:

1) Select the real-time control

2) Open TRMS_PID _pict.mdl module presented below. Notice that Simulink is directed to
an external module, which is indicated in the upper part of the Simulink window. The PID
controller has already been designed.
Abu Dhabi University MEC 412 – Dynamic and Control Systems Lab

3) Before you run in real-time, make sure the TRMS setup is properly connected and that the
power source is turned off.
4) Click on Run in Real-Time.
5) Open the scope to observe the measured pitch angle and the desired pitch angle vs. time
graphs as well as the control signal.

Data Analysis:

 Calculate the rise time, overshoot, settling time, and the steady-state error.

Discussion

 Why was the PID controller used for this simulation of the Twin Rotor?
 Why is the sinusoidal response needed in the Twin Rotor system?
 Discuss briefly SISO, MISO & MIMO control systems.