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Alternative TitleGround station design of autopilot system and automatic landing control for model helicopter
Thesis Advisor赵晓光
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword模型直升机 飞行控制系统 模型辨识 垂直升降控制 Pid控制 Model Helicopter Fly-control System Model Identification Promotion And Demotion Control Pid Control
Abstract小型无人直升机具有定点悬停、侧向飞行和反向飞行等独特的飞行特性,与固定翼飞机相比具有更好的机动性能和灵活性,在军事和民用领域都具有广泛的应用价值。目前,国内外很多研究机构和大学都致力于研究小型无人直升机的飞行控制系统,使其能够自主飞行,进而脱离人的干预而自动完成飞行任务。大量研究工作表明,直升机控制系统的设计依赖于直升机的动力学模型,因此直升机的建模和控制系统的设计成为当前无人直升机研究的热点。 本文以雷虎90遥控模型直升机为研究对象,设计了飞行控制系统,以ARM9为核心处理器,结合外部设备,为实现小型无人直升机的自主飞行奠定了基础。首先,本文以小型无人直升机为研究对象,介绍了小型无人直升机的飞行原理,并根据选用的小型无人直升机的结构特征建立了直升机的运动方程。然后,在掌握小型无人直升机飞行控制原理的基础上,给出了飞行控制系统的总体方案,进行了飞行控制系统的硬件设计。在硬件系统的基础上,编写了地面控制计算机(地面站)控制和通讯软件模块。通过大量实验和调试,排除各种实际问题,使每个功能模块都能完成预期的功能。本文利用采集的飞行实验数据,采用最小二乘法建立了模型直升机系统的分通道数学模型(包括俯仰、滚转、偏航和垂直通道的模型)。采用所辨识的垂直通道模型,建立了模型直升机自动升降的PID控制器,通过Matlab仿真和实际飞行实验,验证了垂直通道模型和控制器的有效性。
Other AbstractSmall-size unmanned helicopter, with its unique characteristics of hovering, flying sideways and backwards, is more superior in maneuverability and flexibility compared with fixed-wing aircraft, so it can be widely used in the military and civilian fields. Therefore many organizations and universities are committed to make research on developing unmanned helicopter flight control system, in order to make it become an automatic aircraft and complete the aerial mission without manual invitation. But we cannot obtain the objective unless we get its dynamic model, so the subject of helicopter modeling and helicopter flight control system designing have aroused general interest. This paper takes the Tiger-90 small-size unmanned helicopter as research object, developing a control system that is based on ARM9 with other devices, has provided a base for further research. In the first part of the paper, the helicopter flight principle is introduced, and according to the structure characteristics of helicopter which is selected, equation of motion of helicopter is presented. Then, the general design of flight control system is introduced. After that, the hardware of flight control system is designed. Furthermore, the software function modules are complied and debugging work is carried on. Using the least-squares method, the pitch, roll, yaw and vertical channel models are identified, based on the flight data. Finally, according to the established model in the vertical channel, a promotion and demotion controller is derived, using the PID control rule. The results of simulation and experiment run well.
Other Identifier200628014628005
Document Type学位论文
Recommended Citation
GB/T 7714
胡勇强. 模型直升机自动驾驶系统地面站设计与自动升降控制[D]. 中国科学院自动化研究所. 中国科学院研究生院,2009.
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