Experiment: - Twin Rotor MIMO System.

Objective

Observation:-

Procedure:-

$. Firstly, system simulation run and observed the system behavior. The inputs were applied to pitch and yaw in non linearity with sin wave input and step input. The non linearity sin and step input as follows.

And then separately to Sin and step input only to Pitch and Yaw.

Observations:-

The Model system

Pitch yawSin SinSin StepStep SinStep Step

For the Sin to Pitch and Yaw

I) Pitch elevation

II) Yaw azimuth

For the Step to Pitch and Sine toYaw

Pitch elevation

Yaw azimuth

For Sine to Pitch & Step to Yaw

Appling step only to Pitch.

Appling Sine only to Pitch

Appling Sine only to Yaw

Used 2DOF model

Model

Step Step input both Pith & Yaw

Pitch to Step & Yow to Sine

Pitch to Sine & Yow to Step

Pitch to Sine & Step to Yow

Appling PID values to control model. (Pitch)

PID values.

Step input with PID values (3,8,10) respect to PID

PID 3 8 2

PID 3 1 10

PID 10 8 10

PID 3 20 10

PID to YAW

PID 2 0.5 15

PID=2 0.5 5

PID 2 5 5

Real time

PID 2 .5 5

PID= 3 8 10

With squire input

With disturbance

Flood