Özet:

In this study, he worked on the control of the Twin Rotor MIMO System (TRMS), which is the basis of helicopter systems and the drone system that has been very frequently operated recently. TRMS is one of the main systems used in the field of control. In this study, helicopters used in the daily life for the purpose of health, military, transport, fire instant fire intervention are used for these purposes while reaching from one place to another at an immediate level in the air and in the moment of departure and landing, the control processes must be done very well in order to avoid damage to individuals and transported important equipment and the system response to the desired control signal must be very fast. The failures in the system response and the failure of the controller to work in the desired way can lead to aircraft accidents and thus losses of lives and goods. In literature, the TRMS control is mostly performed using PID controls. However, PID controllers may show insufficient performance except for open-circuit stable systems. The PI-PD controller can perform much better when the PID controller remains insufficient. Therefore, in this study, the control of TRMS was carried out using PI-PD controllers and demonstrated by comparison and real-time application in which better closed circuit answers were obtained from PID controllers. The settings parameters of both the PID and PI-PD controller are calculated according to the ISTE criterion with particle bulk optimization.

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