Desarrollo e implementación de un control de orientación y elevación mediante control en modo deslizante y control MPC lineal, aplicado a un sistema aerodinámico TRMS (Twin Rotor MIMO System).

Abstract

The present degree work is focused on the design and implementation of a predictive controller based on the model by its acronym in English MPC, and a control by sliding modes (SMC), applied to the rotation and elevation of the laboratory equipment Twin Rotor System MIMO (TRMS) that simulates the behavior of a helicopter.

To comply with the objective of controlling the rotation and elevation of the TRMS system, we start with the study of the operation of the equipment, to obtain a linear model of the dynamics of the system, additionally we introduce control concepts that intervene in the design of the MPC and SMC controllers.

The controllers designed for the control of rotation and elevation are applied to the simulation and the real TRMS system, through a graphical interface designed in the Matlab software, which allows the user to manipulate the references, apply perturbations to the process, choose the controllers, visualize the system response and control signal, a window with the performance indices of the integral of the absolute error (IAE), integral of the quadratic error (ISE), is also included in the graphical interface, with which a comparison of the performance is made of the designed drivers.