LQGi/LTR controller with integrators and feedforward controller applied to a Twin Rotor MIMO System

• Autorzy: Senoussaoui Abderrahmane , Chenafa Mohammed , Sahraoui Mustapha , Kacimi Abderrahmene , Houcine Rachida

Identyfikatory

DOI

10.15199/48.2021.04.08

Warianty tytułu

PL

Sterowniki LQGi/LTR z integratorem i układem feedforward do sterowania systemu MIMO z podwójnym wirnikiem

• Języki publikacji: EN

Abstrakty

EN

This paper presents a comparison between LQGi and LQGi/LTR control of a Twin Rotor MIMO System (TRMS)(made by feedback instrument company). The Linear Quadratic Gaussian (LQG) means a linear quadratic regulator with KALMAN filter. LQG/LTR is an LQG controller with Loop Transfer Recovery. For both we introduced an integrator to deal with steady state errors and disturbances. A feed forward controller has been added to improve the tracking performances of the system. The results are in simulation and in real time.

PL

Przedstawiono porównanie sterowania LQG I LQG/LYR systemu MIMO z dwoama wirnikami TRMS. W sterowaniu LQG wykorzystano filtr Kalmana. Dodatkowo wprowadzono układ całkujący oraz sterownik typu feed forward. Sterowanie analizowano przez symulacje oraz eksperymentalnie.

Słowa kluczowe

EN

Linear Quadratic Gaussian; loop transfer recovery; Kalman filter; Twin Rotor MIMO System; integrator

PL

układ z podwójnym wirnikiem; sterowanie LQG/LTR; filtr Kalmana

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 4
• Strony: 48--53
• Opis fizyczny: Bibliogr. 19 poz., rys., tab.

Twórcy

autor

Senoussaoui Abderrahmane

• University of sciences and technology of Oran Mohamed-boudhiaf

autor

Chenafa Mohammed

• LAAS-National polytechnic school of of Oran-Maurice Audin, ENPO

autor

Sahraoui Mustapha

• University of Mustapha Stambouli Mascara

autor

Kacimi Abderrahmene

• LAAS-National polytechnic school of of Oran-Maurice Audin, ENPO

autor

Houcine Rachida

• University of sciences and technology of Oran Mohamed-boudhiaf

Bibliografia

• [1] P J Neeraj and Seema P N. Control of Twin Rotor MIMO System using Cross PID Control Technique : International Conference on Communication and Signal Processing, April 3- 5, 2018, India
• [2 ]Emmanuel Prempain and Andrea Lecchini-Visintini « Dynamic Analysis of a Twin Rotor MIMO System and Control Design » in 2018 UKACC 12th International Conference on Control (CONTROL) Sheffield, UK, 5-7 Sept 2018
• [3] R. Mascaró Palliser, Ramon Costa-Castelló, and G. A. Ramos « Iterative Learning Control Experimental Results in Twin-Rotor Device » in Hindawi, Mathematical Problems in Engineering, Volume : 2017, Article ID 6519497, 12 pages
• [4] G. Stein and M. Athans, "The LQG/LTR procedure for multivariable feedback control design," IEEE Transactions on Automatic Control, vol. 32, no. 2, pp. 105-114, 1987.
• [5] Fernando S. Barbosa, Gabriel P. das Neves and Bruno A. Ang´elico « Discrete LQG/LTR Control Augmented by Integrators Applied to a 2-DOF Helicopter » in 2016 IEEE Conference on Control Applications (CCA) Part of 2016 IEEE Multi-Conference on Systems and Control September 19-22, 2016. Buenos Aires, Argentina.
• [6] Majid Taheri Andani, Hamed Pourgharibshahi, Zahra Ramezani, Hassan Zargarzadeh « Controller Design for Voltage-Source Converter Using LQG/LTR » in 978-1-5386-1006-0/18/$31.00 ©2018 IEEE
• [7] Navid Razmjooy, Mehdi Ramezani, Esmaeil Nazari « USING LQG/LTR OPTIMAL CONTROL METHOD FOR CAR SUSPENSION SYSTEM » in SCRO RESEARCH ANNUAL REPORT Vol. 3, pp. 1-8, 2015 ISSN 1494-7617
• [8] 8 R, et al. « Sliding mode disturbance observer-based control of a twin rotor MIMO system ». ISA Transactions (2017), http://dx.doi.org/10.1016/j.isatra.2017.04.013i.
• [9] Azar A.T., Sayed A.S., Shahin A.S., Elkholy H.A., Ammar H.H. (2020) PID Controller for 2-DOFs Twin Rotor MIMO System Tuned with Particle Swarm Optimization. In: Hassanien A., Shaalan K., Tolba M. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019. AISI 2019. Advances in Intelligent Systems and Computing, vol 1058. Springer, Cham
• [10] Pandey S.K., Laxmi V. (2015) Optimal Control of Twin Rotor MIMO System Using LQR Technique. In: Jain L., Behera H., Mandal J., Mohapatra D. (eds) Computational Intelligence in Data Mining - Volume 1. Smart Innovation, Systems and Technologies, vol 31. Springer, New Delhi
• [11] A.SENOUSSAOUI, M.CHENAFA, A.KACIMI and R.HOCI NE “Neural network NARMA L-2 control of a twin rotor MIMO system,” in 2019 International conference on advanced electrical engineering (ICAEE’19),November 19-22, 2019 Algiers, ALGERIA.
• [12] Twin Rotor MIMO System GETTING STARTED 33-007-1M5
• [13] D.AlazardRégulation LQ\LQG.Supaero,Toulouse.France.
• [14] multivariable control systems : an engineering approach P.Albertos and A.SALA. chapter 7.
• [15 ]USING LQG/LTR OPTIMAL CONTROL METHOD FOR CAR SUSPENSION SYSTEM SCRO RESEARCH ANNUAL REPORT Vol. 3, pp. 1-8, 2015 ISSN 1494-7617
• [16] J. C. DOYLE, ,A ND G. STEIN, « Robustness with Observers », IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. AC-24, NO. 4, AUGUST 1979
• [17] Abdul Qayyum Khan, Ghulam Mustafa and Naeem Iqbal « LQG/LTR Based Controller Design for Three Degree of Freedom Helicopter/ Twin Rotor Control System »
• [18] ZOLOTAS et al.: A STUDY ON LQG/LTR CONTROL FOR DAMPING INTER-AREA OSCILLATIONS IN POWER SYSTEMS
• [19] Yaochu Jin and Bernhard Sendhof « Trade-off between Optimality and Robustness: An Evolutionary Multi-objective Approach » published in proceeding of the second conference evolutionary mulit-creterian optimization. C.M Fonseca et al (Eds), LNCS 2632, pp.237-251, Springer, 2003

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).