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Abstract
In this paper we develop a complete dynamic model of the Twin Rotor MIMO System (TRMS) using the
Euler-Lagrange method. Our model improves upon the model provided by the manufacturer in the user manual
and upon previous models of the TRMS which can be found in the literature. The model is tuned and validated
using experimental data.
INTRODUCTION
2.1
DC motors
The main and tail DC motors are assumed to be completely identical, therefore, all the equations in this
section will be given in general from and can easily
be applied to the considered motor by adding the subscript m or t. The voltage of the DC motor, denoted
as v, is set in Simulink through the control signal u.
The entire channel from the control signal to the motor voltage is assumed to have a constant gain, i.e.
v = ku u. The DC motor itself is described by a simple
first-order differential equation
di
Lm = v kv Ri
dt
(1)
where:
i:
Lm :
R:
kv :
:
By comparing the numerical values of the electrical and mechanical time constants of, for example,
I1 R
= 3.38 s
kt kv
cm =
2.2
v kv Ri = 0.
Rigid Body
= Fqi .
(4)
dt qi
qi
The set of generalised coordinates is selected as q =
{, , m , t }, where denote the pitch angle, the
yaw angle, m and t the angles of the main and tail
rotors as shown in Fig. 2. The steps used to derive
the Lagrangian are very similar to those used in [7] to
model the Toycopter, with some differences which will
be pointed out at the end of the section.
2.2.1
Kinetic energy
(10)
1
1
T
T
vA + M vA
( rAG ) + T IA .
(5) T = M vA
2
2
In order to calculate the total kinetic energy the TRMS
will be considered consisting of four separate rigid
bodies, namely: a) main rotor; b) tail rotor; c) body,
comprising the main beam, tail beam, rotors shields
and counterbalance beam with weight; and d) pivoted
beam. Each rotor is formed by the corresponding propeller and DC motor rotor. In order to simplify the
calculation of the kinetic energy, all vector quantities
associated with each body are expressed in its bodyfixed frame, i.e. reference frame attached to the body.
Let the body-fixed frame (xm , ym , zm ) of the main
rotor be attached to its centre of mass Om so that its
xm -axis coincides with the axis of rotation of the propeller and is directed upwards, and ym -axis coincides
with the propeller blade (Fig. 2). The main rotor angular velocity is determined as the vector sum of three
angular velocities of rotation along m , and angles
as shown in Fig. 3:
m + cos
(6)
m = sin m cos m sin .
cos m + sin m sin
Let lm denote the distance between the points Ob
and Om (which is also the length of the main beam)
and dm the distance between the points O and Om .
Translation of the point Om is due to the rotation of
the main beam along the and angles, therefore,
the instantaneous linear velocity vector of the point
Om with respect to the body-fixed frame is (Fig. 4):
lm
(7)
vm = dm cos sin (m + )
dm cos cos (m + )
.
where is a fixed angle determined as arccos dlm
m
Under assumption of high rotational speed the tensor
of inertia of the main rotor is diagonal and its components corresponding to the ym and zm axes can be
taken equal:
Im1
0
0
Im23
0 .
(8)
Im = 0
0
0
Im23
Due to the choice of the body-fixed frame, the position
vector (corresponding to rAG in (5)) vanishes.
lt cos
vt = lt sin t + h cos cos t
lt cos t h cos sin t
(11)
It1
It = 0
0
0
It23
0
0
0 .
It23
b =
sin
cos
T
vb = 0
h cos
h sin
T
(a) Contribution of
(b) Contribution of
(b) Contribution of
Tm =
(17)
Tt =
rObGb = 0
yGb
zGb
T
(15)
Ib11
Ib = 0
0
0
Ib22
0
0
0 .
Ib33
1
1
1
Ib11 2 + Ib22 2 sin2 + Ib33 2 cos2
2
2
2
1
zGb cos + +yGb sin .
+ Mb 2 h2 Mb h
2
The kinetic energy of the pivoted beam is simply:
(19)
2.2.2
Figure 5: Calculation of the TRMS body angular velocity (b ) and linear velocity (vm )
Tp =
1 2
Ip .
2
Potential energy
In order to obtain the total potential energy we consider the aggregate body of mass Ma consisting of
those parts which have a variable potential energy:
the main rotor, tail rotor and body. Let Ga denote the
centre of mass of the aggregate body. Due to symmetry, the position of Ga with respect to the body-fixed
frame can be defined by two coordinates yGa and zGa .
Expressing the vertical position of Ga relatively to the
stationary point O in terms of yGa and zGa (Fig. 6) the
potential energy takes the form:
2.2.3
(b) Calculation of vb
1
1
Mt d2t 2 cos2 +
It1 + Mt lt2 2
2
2
1
1
2
(18) Tb =
(20)
(a) Calculation of b
2
1
1
2
Im23 2 +
Im23 + Mm lm
2
2
1
Im1 Im23 + Mm d2m 2 cos2
+
2
1
+ Im1 2m + Im1 m cos
2
(16)
L=
1 2 1 2
1
I + Ic cos2 + I 2
2
2
2
1
1
+ Im1 2m + It1 2t Gc cos Gs sin
2
2
Gc = Ma gzGa
(21c)
Gs = Ma gyGa
(21d)
Hc = Mb hzGb
(21e)
Hs = Mb hyGb
(21f)
(21g)
(21h)
(21i)
+ Mt d2t
2
I = Ib11 + Im23 + It1 + Mm lm
+ Mt lt2 .
given by fv + fc sgn , fv + fc sgn ,
fvm m , fvt t .
The flat cable, connecting the electrical equipment
located on the moving parts of TRMS with the electronic board at the base of the setup possesses a
certain stiffness and acts as a spring along the yaw
angle. The magnitude of the torque exerted by the
cable on yaw angle is taken as Cc ( 0 ).
Summing up all the forces mentioned above for
each of generalised coordinates yields:
(22) F = CT m m | m | lm CRt t | t |
fv fc sgn
(23) F = CT t r | r | lt cos CRm m | m | cos
C C0 sgn Cc ( 0 )
(24)
(25)
2.2.4
Generalized forces
2.2.5
Equations of motion
Finally, by computing eq. (4) in terms of each of generalised coordinates, we obtain the following equations of motion
(26) I = It1 t + Hc cos + Hs sin
1
+ Gc sin Gs cos Ic 2 sin (2)
2
m sin + CT m m |m | lm CRt t |t |
Im1
fv fc sgn
I + Ic cos2 = Im1 m cos + Hc cos
+ Hs sin + Hs 2 cos Hc 2 sin + Ic sin (2)
+ Im1 m sin + CT t t |t | lt cos
(27)
CRm m |m | cos fv f
c sgn Cc ( 0 )
(28) Im1 m = Im1 cos + ktm im fvm m
CQm m |m | + Im1 sin
(29)
(31)
PARAMETERS
The next major step in the construction of the systems model is the estimation of the numerical values
of its parameters. The initial parameters of the TRMS
are provided in the Users Manual [3] and given in Table 1.
Table 1: TRMS parameters
parameter
lt
lm
lb
lcb
rms
rts
rmr
rtr
h
Mt
Mm
mcb
mt
mm
mb
mts
mms
mh
Rm , Rt
Lmm , Lmt
kvm , kvt
ktm , ktt
kum
kut
3.1
value
0.282
0.246
0.290
0.276
0.155
0.100
0.145
0.090
0.06
0.221
0.236
0.068
0.015
0.014
0.022
0.119
0.219
0.01
8
0.86
0.0202
0.0202
8.5
6.5
unit
m
m
m
m
m
m
m
m
m
kg
kg
kg
kg
kg
kg
kg
kg
kg
mH
N m A1
V rad1 s
No units
No units
1.5
Polynomial fit
Experimental
1
Main rotor thrust, N
0.5
0.5
1
300
Propeller forces
200
100
100
200
300
3.2
Friction coefficients
3.3
Im1 =
0.04
1
2
Mm rmr
,
12
Im23 =
1
2
Mm rmr
.
4
0.02
(34)
0.06
4
Experimental
Linear fit
2
0
2
Change in yaw angle, rad
It23 =
1
2
Mt rtr
.
4
1
2
Mt rtr
,
12
0.02
0.04
It1 =
CT t t |t | lt = Cc ( 0 )
(35) Ib11 =
(36) Ib22 =
(37) Ib33 =
(38)
3.4
(40)
1
1
1
2
2
2
mb lb2 + mcb lcb
+ mms rms
+ mts rts
3
2
2
1
1
2
2
mm lm
+ mms lm
+ mt lt2 + mts lt2
3
3
1
2
2
.
+ mms rms
+ mts rts
2
Parameters calculation
1
1
2
2
2
mb lb2 + mcb lcb
+ m m lm
+ mms lm
3
3
1
1
2
2
+ mts rts
+ mt lt2 + mts lt2 + mms rms
3
2
Ip =
1
mh h2 .
3
(42)
yGb =
1
2 lm mm
zGb =
+ lm mms 12 lt mt lt mts
Mb
21 lb mb lcb mcb
.
Mb
10
1.72 104
m1
Ma
4
It1
1.49 10
3.24 105
0.0651
0.0656
I
12 lb mb lcb mcb
I
0.0113
0.0113
.
(44)
zGa =
Ma
Ic
0.0537
0.006
0.0024
f
v
Expanding eqs. (21b)(21g) and (21i) using the
fc
0.001
5.69 104
results of this section yields the final equations for
0.1
0.03
fv
the model parameters. The numerical values of the
f
0.02
3
104
c
model parameters are given in Table 2.
5
4.5 10
3.89 106
fvm
5
fvt
2.3 10
3.43 106
+
5
3.5 Model tuning
CT m
1.53 10
CTm
8.8 106
The steady state pitch angle predicted by the model
+
6
C
3.25
10
Tt
differs slightly from one displayed by the real plant
6
1.72
10
C
Tt
0 = 0.5093 rad. Clearly, the steady state pitch
+
+
7
C
,
C
4.9
10
Rm
Qm
angle is determined solely by the coordinates of the
7
C
4.1
10
,
C
Rm
Qm
centre of mass of the aggregate body estimated in
8
C
,
C
9.70
10
Rt
Qt
eqs. (43) and (44). In fact, the centre of mass of the
C
0.016
c
main rotor lies below y-axis, while in eq. (44) we as0.6663
0.5093
0
sumed it lying on the y-axis, so the value of zGa should
0
0.4602
be tuned. Taking all the velocities in eq. (26) equal to
G
0.1954
0.275
c
zero, we have the following static equation revealing
Gs
0.1536
the steady state pitch angle
0.0012
Hc
(45)
Gc sin Gs cos = 0.
Hs
0.0012
Combining eqs. (21b), (21c) and (45) yields: zGa =
yGa cot 0 = 0.0307 m. The updated value of depending parameter Gc is 0.2750 N m.
Some of the models parameters were optimised
using a parameter estimation technique. The objective of the parameter estimation procedure is to find
optimal values of the parameters under consideration according to some cost function, which is typically the least squares error between the experimental and model responses. In this work the Simulink
Design Optimization toolbox was utilised. The optimisation of the parameters was carried out separately
for the following four subsystems: the main rotor, tail
rotor, pitch angle and the yaw angle. In each case
considered, the subsystem was treated in an isolated
and simplified mode of operation to avoid the effects
of cross-couplings and of parameters not of interest.
For example, the pitch angle subsystem was treated
in 1DOF free response mode, i.e. with stopped rotors
and fixed yaw angle. As a result, the following parameters were optimised:
Main rotor: the moment of inertia Im1 and friction
coefficient fvm .
Tail rotor: the moment of inertia It1 and friction
coefficient fvt .
Pitch angle: the moment of inertia I , friction coefficients fv and fc .
Yaw angle: the moment of inertia I , friction coefficients fv and fc .
unit
kg m2
kg m2
kg m2
kg m2
kg m2
N m rad1 s
Nm
N m rad1 s
Nm
N m rad1 s
N m rad1 s
N s2 rad2
N s2 rad2
N s2 rad2
N s2 rad2
N m s2 rad2
N m s2 rad2
N m s2 rad2
N m rad1
rad
rad
Nm
Nm
kg m2
kg m2
SIMULATION
CONCLUSIONS
The model was subsequently used to design a controller for the TRMS. Further details about the implementation of the controller will be reported elsewhere.
The object of future work will be the design of an anti
wind-up scheme to compensate for inputs saturation.
Copyright Statement
The authors confirm that they, and/or their company
or organization, hold copyright on all of the original
material included in this paper. The authors also
confirm that they have obtained permission, from the
copyright holder of any third party material included
in this paper, to publish it as part of their paper. The
authors confirm that they give permission, or have obtained permission from the copyright holder of this paper, for the publication and distribution of this paper
as part of the ERF2013 proceedings or as individual
offprints from the proceedings and for inclusion in a
freely accessible web-based repository.
References
[1] Alain J. Brizard. An introduction to Lagrangian
mechanics. World Scientific, 2008.
[2] Feedback Instruments. Twin Rotor Mimo System. Advanced Teaching Manual 1. 33-007-4M5.
Feedback Instruments Ltd., Park Road, Crowborough, East Sussex, TN6 2QR, UK, 01 edition, 09
1998.
[3] Feedback Instruments. Twin Rotor MIMO System
Control Experiments. 33-949S. Feedback Instruments Ltd., Park Road, Crowborough, East Sussex, TN6 2QR, UK, 01 edition, 12 2006.
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