Design And Simulation Research Helicopter Control Law

Helicopters apply to many fields of the society more and more widely with social developing. Because the statical stability of helicopter isn't good, it is necessary to design a controller to provide stability augmentation and control, as well as make system performance satisfy given request. In addition, in order to prove whether the control law is in reason, which has been designed, the whole control system of helicopter must be validate by simulation. Due to the curves of traditional digital simulation are abstract, the method of three-dimensional (3d) animation can be adopted instead of traditional way.In this thesis, the linearization little perturbation equations are established according to dynamic analysis of helicopter and then full state equation of helicopter is derived. After analyzing in-out characteristic of helicopter's execution module, corresponding math models are confirmed. The control system model of the helicopter is established based on the work upwards.To achieve the request of dynamic response in flight quality, the parameters in control laws of all channels, such as longitudinal, lateral, directional, altitude and harmonious turning, are designed by using the theory of pole-deploying and the partial-state-feedback method. The mapping relation from quality space to parameter space of a linear model is established. A neural network controller whtich is trained by mapping results samples realizes the law of adjusting parameter in the flight envelop. The result, which comes from digital simulation of the control laws and parameters, shows that the parameters present in this paper satisfy the request.For the purpose of using 3d animated to reflect the simulation outcome fully, intuitively and real-timely, a frame of 3d animated simulation system based on OpenGL is built by OpenGL combined Visual C++6.0 exploitation platform and MFC configuration. A model helicopter existed in form of exterior document has been read in the system. The flight environment including sky and ground has been made. Fog impact makes the virtual flight environment more closed to reality.The data chain between simulation system and 3d display system is carried out by serial port in this thesis. On the one hand, it transmits coding data through serial port. On the other hand, it receives and decodes the data which could control the position and gesture of the model helicopter in virtual environment.In the end, proved by experiment on simulating the whole system, the control law is designed reasonably, 3d simulation system functions exactly and credibly.