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Today, although many advanced controller design methods have been developed, PID controller continues to be widely used thanks to its simple structure, easy applicability, robustness to disturbances and nonlinearities. In this study, discrete time PID controller design, simulation and real-time experiment are presented for the control of twin rotor mimo system, which is considered as a helicopter simulator. TRMS is a non-linear system, which contains control difficulties in modern aircraft and has coupling effect. The coupling effect in the system are accepted as disturbance and two discrete time PID controllers are designed for two SISO systems. Simulation/Real-time results are evaluated comparatively.

Çift Pervaneli Çok Girişli Çok Çıkışlı (TRMS) Sistemin Kontrolü için Ayrık Zaman PID Kontrolör Tasarımı ve Gerçek Zaman Uygulaması