Twin Rotatory System

The Twin Rotatory System (TRMS) is a fundamental model for studying the hovering dynamics of a helicopter having common behavior in some aspects such as cross coupled pitch and yaw motions. The motivation of this study is originated from the growing interest in developing unmanned aircraft system an

Project Title

Twin Rotatory System

Project Area of Specialization

Robotics

Project Summary

The Twin Rotatory System (TRMS) is a fundamental model for studying the hovering dynamics of a helicopter having common behavior in some aspects such as cross coupled pitch and yaw motions. The motivation of this study is originated from the growing interest in developing unmanned aircraft system and the similarities between TRMS and helicopter of dynamics. This study addresses the pitch and yaw motion of two degree of freedom TRMS with a Proportional Integral Derivative (PID) Controller approach. The objective of this project is to attain stability of yaw angle and pitch angle, to minimize the error, and to achieve required position in a reasonable time.

Project Objectives

The objectives of the thesis are shown as following:

1. To attain stability of yaw angle and pitch angle
2. To minimize the error
3. To achieve the required position in a reasonable time

Project Implementation Method

TRS is the combination of two parts; one is mechanical part and other is controlling part. Both the parts are interfaced through electrical connections. Mechanical part consists of two DC rotors which were positioned on a beam, composed with the help of counter balance rod. There were two propellers for yaw angle and pitch angle attached with the DC motors. A tower is placed which connects beam and control box. Inside the tower 8 carbons are used for internal to external connections. At the top of the tower Gyro mpu6050 is placed to get feedback response.

Except mechanical part the electrical part also plays an important role in controlling of TRMS. It transfer signals from PC to control box through Graphical User Interface (GUI) and then controller give response to DC motors according to parameters given by user via wires which were placed in a tower.

To model TRMS we use PID control technique that is very common in use because it is simple and easy. This control technique is chosen which will satisfy our need, the input of every controller is e (t) that is error signal. Most of the time signals which create disturbance are also measured. The controller checks present and past values at all time and changes the input u (t) till y (t) is getting closer to desired y (t). PID control scheme is a closed loop control system which will provide some parameters of the controller in accordance with the system characteristics. If the transfer function G(s) of plant is known then it will help to find possible parameters of the controller C(s).

Benefits of the Project

• Twin rotary system can be used as a prototype for building real time helicopters in institutional laboratories.
• This Trainer can also be used to demonstrate different PID techniques to students
• This can also be used to test various control techniques that can be utilized in other research areas like robotics.

Technical Details of Final Deliverable

TRS is implemented through PID technique. PID controller contains three parameters: Proportional, Integral and Derivative. All the factors of PID plays an important role in controlling system. Proportional factor is used to speed up the system. If the value of P will becomes too large then oscillations will occur and they will damage the whole system. Integral factor is also very important as it guarantees 0 error in steady state. It means there will be no error between present value and actual value so the output is as same as we desired. It may be has one disadvantage as it gives slower response so in plants where fast response is needed so this integral factor will be omitted. The Derivative factor is used to fast the response time. This factor is sensitive to noise so in the noisy area system will react nervously.

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Others

Technologies

Robotics

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

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