Twin Rotor Setpoint and Step Response

Student Instructions

Preface
The Twin Rotor Multi-Input Multi-Output System (MIMO) has been integrated with the
Cologne College of Applied Sciences Remote Laboratory in Cologne, Germany. The Remote
Laboratory, or RLab, enables physical experiments to be run via the internet from distant locations.
RLab uses National Instruments LabView software. The physical plant, in this case the Twin Rotor,
is physically connected to an experiment server using National Instruments hardware. The Remote
Laboratory allows users from around the world to use these laboratories from any remote location.
Run through Labview, the Twin Rotor can be used to run a step response and be controlled by a PID
controller. To simplify the plant, the MIMO system is reduced into a Single-Input Single-Output
(SISO) System. Also, the non-linearities were linearized.

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Contents
1

Introduction and Objectives .................................................................................1

Description of Apparatus ......................................................................................1

Theory .....................................................................................................................2

Matlab Simulation..................................................................................................4

Simulink Simulation ..............................................................................................4

RLab Experiment...................................................................................................4

6.1

Login Instructions ............................................................................................................................4

6.2

Operating Points ...............................................................................................................................6

6.3

Step Response....................................................................................................................................7

Questions and Discussion ......................................................................................7

Appendices
Appendix A. Twin Rotor MIMO System Mathematical Model
List of Figures
Figure 1. Diagram of main twin rotor components
Figure 2. Transfer function determining output with system converted to SISO
Figure 3. Simulink blocks without transfer function inserted
Figure 4. Example of login screen
Figure 5. Example of booking time and plant selection
Figure 6. Booking time screen
Figure 7. Experiment selection screen

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Introduction and Objectives

The purpose of this lab is to teach the undergraduate student how to setup and run an

experiment using a remote lab. This lab teaches the basic operations of logging in and using the
RLab functions that allow the user to control an experiment plant remotely. The two specific
experiments apply to the twin rotor plant in the vertical main rotor only configuration. The first
experiment is the simple set point experiment. In the set point experiment, the desired percentage of
fan power is entered and the plant can be watched via the webcam. The step experiment requires a
time step to be entered along with percentage of fan power. In this experiment a graph may be
viewed and numerical data may be required after the experiment.

Description of Apparatus
The twin rotor multi input multi output system (TRMS) is a versatile control experiment

plant. For more simple experiments, the plant may be operated with a single rotor as well creating a
horizontal or vertical one degree of freedom

(1-DOF) system. For more in depth experiments,

both the vertical and horizontal rotors are operated to create a two degree of freedom (2-DOF)
system. The resulting 2-DOF system is high order non-linear with significant cross couplings and is
multi input multi output (MIMO). The MIMO system requires an advanced controller to stabilize
properly. For the set point and step experiments, the twin rotor plant will be operated via the main
rotor only.

Figure 1: Diagram of main twin rotor components

Theory
The twin rotor system starts as a multi input multi output (MIMO) system. In the following

experiments, only the main rotor is utilized. The single rotor configuration creates a single input
single output (SISO) system. The SISO system is much easier to work with, but non-linearities still
exist resulting from friction and momentum. The block diagram given for the plant is of course a
MIMO system and many simplifying assumptions must be made to account for the change to the
SISO system. The values and assumptions for properties in this resulting SISO system are listed
below.
A transfer function is usually used to analyze single-input single-output electronic control
theory. The term often refers to linear systems. Most actual systems, including the twin rotor plant,
have non-linear input and output. Many systems however, when operated within applicable ranges
of inputs exhibit behavior that is similiar enough to linear that the transfer function is an acceptable
modeling tool of plant behavior. A step response shows the dynamic characteristics in terms of a
response to a unit step input. The parameters most important in observing the system are rise time,
overshoot, and settling time. Rise time refers to the time it takes system output to reach a pre
selected fraction of the eventual constant value of the system once stabilized. For this experiment,
the system will be settled at steady state within 2% of the final value. Overshoot is the distance
between the steady state value and the maximum peak value if the system. Settling time is the time
required for the output to attain and settle within a given percentage of the steady state output value
following an input.

The non linear properties of the system are as follows:

V = non linear part of DC motor with main rotor
(ignored)
f = vertical turning moment from counter balance
(assumed to be = 1)
fv = moment of friction force in horizontal
(assumed to be = 1)

The linear properties of the system are listed below.

TV = time constant
(given)
FV = aerodynamical force from main rotor*
(non linear function of input voltage)
WM = rotational velocity of main rotor*
(non linear function of input voltage)
JV = moment of inertia with respect to horizontal axis
(given)
LV = length from aerodynamic force to main rotor
(.24)
(1)

The asterisk * denotes that WM and FV must be created around a certain voltage to create the SISO
transfer function. Due to the mentioned non linearities as the percentage of given throttle input
increases or decreases, this given transfer function becomes less accurate. Equation 1 takes into
account the time constant to find the GV value. With these above assumptions and conditions
inserted into the given MIMO block diagram, the transfer function for SISO the system becomes
equation 2. Once the transfer function is determined a diagram of how the transfer function effects
the input to give output can be seen in figure 2. This is very similar to the Simulink block diagram
that will be used later to simulate results.

Figure 2: Transfer function determining output with system converted to SISO

Matlab Simulation
Use the given values of the transfer function to model the SISO main rotor only systems

behavior. This graph should be saved and used to compare with the output graph of the system later.
Below are the Matlab commands needed to run the simulation. The explanations are listed to the
right of each command.
>>
>>
>>
>>

num =
;
den = [ ];
sys = tf(num,den);
step(sys)

Simulink Simulation

value of numerator of TF
values of denominator separated by spaces
command to enter in TF
command for step response

The simulink code may be created by selecting Sources, then the sub list sinks, and finally
selecting from the continuous list. The simulink should be in the form of a simple block diagram
starting with force going to the transfer function, then going to scope. An example of which is found
in figure 3 below. Once the Simulink is played, you may double click on scope to see the graph.
Notice the result is out of the scope and the numerator of the transfer function will need to be
adjusted to bring the graph within the scope. This graph should be saved and used to compare with
the output graph of the system later.

Figure 3: Simulink blocks without transfer function inserted

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6.1

RLab Experiment
Login Instructions

To start the lab first log on to the website. Go to the web site for remote laboratory using the IP
address provided by the instructor. Input the login name and password to be given access to the
Remote Laboratory. Log in to the website as a UNF user, use the following: Once logged on to the
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system: Click on the manage booking time option. Booking time must be selected for plant use.
The month, day, exact time window, and which plant being used must all be specified. It is also
possible that the time requested has already been booked, in which case a new time must be selected.
To operate the twin rotor plant click the Experiments on model: Twin-Rotor option. Depending
on which experiment you are working, select one of the following options shown in the figure.

Figure 4: Example of login screen

Figure 5: Example of booking time and plant selection

Figure 6: Booking time screen

6.2

Operating Points
The purpose is for the student to become proficient using the remote lab and controlling the

plant remotely. After logging into the system and reserving time select Experiment: operating
points. Click on webcam to view the plant. There are two options a high and low for the picture
quality. A newer computer should have significant capability for the high option. With the webcam
working, make sure no one is using or working on the plant. Input a desired percentage speed for the
main rotor fan. The experimental time must also be entered, this just limits the amount of time the
fan will stay at the set speed. After these steps the plant can be operated for the experiment. This
experiment has no controller and just demonstrates the how the twin rotor fan operates with the main
rotor only at a specific set point a set point.

Figure 7: experiment selection screen

6.3

Step Response

The purpose of this lab is to show the step response of the main rotor system and to find the settling
time, rise time, and the overshoot in this particular configuration. After logging into the system and
reserving time select Experiment: step response. Click on webcam to view the plant. With the
webcam working, make sure no one is using or working on the plant. Input a desired percentage
speed for the main rotor fan. For time for this experiment 10 seconds is sufficient for settling time.
Once these are selected the plant can be operated. No numerical information is given but a graph is
produced, the graph is not live however. The graph and numerical data can be viewed best clicking
on function and values, saving to desktop, and then manually opening with excel from the file
saved to desktop. Once the graph is open the graph shows amplitude on the Y axis versus time on
the X axis. This experiment has no controller and just demonstrates how the twin rotor fan operates
with the main rotor only.

Questions and Discussion

Find the settling time, rise time, and the overshoot by viewing the numerical results in excell. How
did the system react without a controller implemented? Use the Matlab and simulink to check the
results. Which rotor power percentage is closest to the Matlab and simulink simulations? Include in
your lab report the Matlab and simulink simulations as well as graphs that exhibit an example of an
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underdamped and overdamped system. Lastly, include the graph and percentage of motor power
that most closely match the simulations.

References
1. Feedback Instruments Ltd. Feedback Twin Rotor MIMO System. E. Sussex: Fl Ltd, Crowborough.
2. Zak, S. H. (2003). Systems and Control. New York: Oxford University Press.

Appendix A. Twin Rotor MIMO System Mathematical Model