Design of an Optimal Controller for a Twin Rotor Mimo System (TRMS)

Abstract

The TRMS is a prototype helicopter. The reason to study the TRMS theory and creating a controller to manage TRMS reaction is to develop a platform for helicopter flight control. This research linearized and described the nonlinear model in state space form. To control activity, a MIMO Twin Rotor system was designed with a Linear Quadratic Gaussian (LQG) compensator. In order to construct a controller, a 2-DOF dynamic model was used to study pitch and yaw motion. The two-stage layout method begins with the creation of an optimal LQR and ends with the creation of a Kalman filter observer. To achieve the required response, the LQR parameters Q and R are changed at arbitrary. Later, the BFO approach was applied to improve the LQG compensator's Q and R parameters. Simulations indicate that the proposed controller can meet the requirements.