Akademik Veri Yönetim Sistemi
2nd International Conference on Scientific and Academic Research, Konya, Türkiye, 14 - 17 Mart 2023, cilt.1, ss.51-57
The twin rotor multiple-input multiple output
(TRMS) system, which emerged as the prototype of the helicopter, is a
non-linear system. It is very difficult to find the controller coefficient in
the control of non-linear systems. Apart from classical methods, metaheuristic
algorithms based on the behavior of animal herds can be used to find the
coefficients of PID and derivative controllers. Metaheuristic algorithms search
for coefficients within the lower and upper limits determined by the population
created outside of the classical coefficient finding methods. While doing this
search, it performs optimization in each iteration. In the search made in
iterations, the power and performance of the algorithm is determined by the
objective function of that algorithm. The stronger the objective function used,
the stronger the coefficients obtained can control the non-linear system. In
the study, the coefficients of the PID and modified I-PD controller were found
by the Cuckoo algorithm for the two degrees of freedom (2-DOF) pitch and yaw
angles in TRMS to reach the reference values. The coefficients found were compared
for pitch and yaw angles in TRMS both in terms of linearized transfer
functions and on the model based on the physical model of TRMS. As a result,
when the overshoot time, settling time and rise times were examined, it was
seen that the transfer function model of the TRMS system gave more successful
results.