Modeling, identification and analysis of twin rotor MIMO systems

Abstract

This paper focuses on the modeling and identification of a Twin Rotor Multi-Input-Multi-Output Systems (TRMS). It begins with an overview of TRMS, followed by the formulation and analysis of a comprehensive nonlinear model based on first principles. The static characteristics of main-elevation and tail-azimuth are explored, considering the influence of rotors on each other. Factors affecting real-time model measurements are investigated. The paper then proceeds to identify TRMS parameters using the “fminsearch” algorithm, the Autoregressive Exogenous Input (ARX) model and Auto-Regressive Moving Average with Exogenous Input (ARMAX) models. Comparative analyses of results from each method are presented. Finally, a comprehensive comparison is made between the nonlinear model, linear models, and real-time experimental data for elevation /pitch and azimuth /yaw angles. This work significantly contributes to understanding TRMS systems, providing insights into nonlinear modeling, identification, and analysis. The findings establish a foundation for advancing comprehension of plant behavior and designing requisite control systems.