This thesis presents the Design, Modeling, and Fabrication of Twin Rotor Control System. The twin... more This thesis presents the Design, Modeling, and Fabrication of Twin Rotor Control System. The twin rotor system has high non-linearity and signi_-cant cross coupling between its two axes. This project aims designing and developing a control scheme for the twin rotor control system. The mechanical model of twin rotor system consists of two rotors, a main rotor and a tail rotor, mounted at each end on a lever bar. The primary task is to control the angular position of the twin rotor system. It has two degrees of freedom which are the azimuthal angle and the elevation angle. As a _rst step, mathematical modeling of the twin rotor system is done. As the system is highly non-linear, so nonlinear equations of azimuth and elevation angles are linearized. Then a State Space obesrver based controller is designed for the system. By implementing the controller in Simulink and testing it on the physical model it is found that controller is able to stabilize the system and track a reference signal. A multifunction embedded control card is used for real time motion control of the two rotors. Here a microcontroller is connected with two Digital to Analog Converter(DAC) and Analog to Digital Converter(ADC) channels through dierent latches. An external 32K memory is used for the addressing schemes of the DAC and ADC's. The codes for checking the functionality of the DAC's,ADC and observer design are written in C language using Keil software.
This thesis presents the Design, Modeling, and Fabrication of Twin Rotor Control System. The twin... more This thesis presents the Design, Modeling, and Fabrication of Twin Rotor Control System. The twin rotor system has high non-linearity and signi_-cant cross coupling between its two axes. This project aims designing and developing a control scheme for the twin rotor control system. The mechanical model of twin rotor system consists of two rotors, a main rotor and a tail rotor, mounted at each end on a lever bar. The primary task is to control the angular position of the twin rotor system. It has two degrees of freedom which are the azimuthal angle and the elevation angle. As a _rst step, mathematical modeling of the twin rotor system is done. As the system is highly non-linear, so nonlinear equations of azimuth and elevation angles are linearized. Then a State Space obesrver based controller is designed for the system. By implementing the controller in Simulink and testing it on the physical model it is found that controller is able to stabilize the system and track a reference signal. A multifunction embedded control card is used for real time motion control of the two rotors. Here a microcontroller is connected with two Digital to Analog Converter(DAC) and Analog to Digital Converter(ADC) channels through dierent latches. An external 32K memory is used for the addressing schemes of the DAC and ADC's. The codes for checking the functionality of the DAC's,ADC and observer design are written in C language using Keil software.
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Papers by Anam Durani