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AN ADVANCED APPROACH TO THE MODELLING OF ROTOR SYSTEM OF A TWIN- ROTOR HELICOPTER - ----- a project by Anirban Bhowmik

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HELICOPTER BASICS: The word ‘ Helicopter ’ originated from a Greek word which means ‘twisted wing’!! It is a type of rotorcraft. Lift and thrust supplied by ‘Rotor’s. It can take off and land vertically ,hover and fly forwards ,backwards and laterally. It has some features that fixed-wing aircrafts don’t have!!!! Its ‘ROTOR SYSTEM’ design is really a ‘challenging’ part.

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HELICOPTER CONSTRUCTION:

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ROTOR SYSTEM: Rotor System serves two purposes: It generates the aerodynamic lift. It also generates thrust. Generally the rotor system consists of only main rotor

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MAIN ROTOR CONSTRUCTION:

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It is mounted horizontally providing lift vertically. The Main rotor consists of a mast, hub and rotor blades. Rotor is powered by the engine, through the transmission, to the rotating mast The pitch of main rotor blades can be varied cyclically throughout its rotation in order to control the direction of rotor thrust vector. Helicopter rotor diameters are relatively large, as this gives much better energy and propellant efficiency MAIN ROTOR FEATURES:

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Problem of single-rotor helicopter:

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Anti-torque control is must for a helicopter. Twin-rotor helicopter is the solution .

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TWIN ROTOR HELICOPTER: ROTOR SYSTEM MAIN ROTOR TAIL ROTOR mounted horizontally providing lift vertically mounted vertically providing lift horizontally (Thrust)

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TWIN ROTOR MIMO SYSTEM (TRMS): It is a laboratory set-up designed for control experiments. In certain aspects its behaviour resembles that of a twin-rotor helicopter. Laboratory Set-up of TRMS

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TRMS VS TWIN ROTOR HELICOPTER:

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TRMS is driven by two D.C. motors Its two propellers are perpendicular to each other and joined by a beam pivoted on its base that can rotate freely in horizontal and vertical planes Joined beam can be moved by changing the input voltage in order to control rotational speed of propellers It is equipped with a pendulum counterweight hanging from the beam It possesses a strong coupling between main and tail rotor So in certain aspect ,it resembles of a twin –rotor helicopter TRMS MODEL:

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TRMS MODEL: α h =Horizontal position Of TRMS beam( rad ) α v = Verical position Of TRMS beam( rad ) TRMS MECHANICAL MODEL

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Apart from Mechanical Unit TRMS has Electrical Unit It plays important role for TRMS control Electrical Unit transfers measured signal to PC and control signal application via an I/O card. THE MECHANICAL AND ELECTRICAL UNITS PROVIDE A COMPLETE CONTROL SYSTEM SET-UP TRMS MODEL:

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TRMS CONTROL SYSTEM: measurement control

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REFERENCES: 1 . A Rahideh and M H Shaheed . ‘ Mathematical dynamic modelling of a twin-rotor multiple input – multiple output system ’ . Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 2007.pp.89-101 2. Akbar Rahideh .’ DYNAMIC MODELLING OF A TWIN ROTOR MIMO SYSTEM USING GREY BOXAPPROACH ’. Proceeding of the 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29, 2008.pp.1-6 3. Feedback Instruments Ltd. Twin Rotor MIMO System GETTING STARTED(user manual).33-007-1M5,pp. 1-62 4. http://en.wikipedia.org/wiki/Helicopter 5. S. F. Toha , M. O. Tokhi .’ Inverse Model Based Control for a Twin Rotor System’. IEEE transactions 2010 pp.1-5