PID Attitude Control And Experimental Research Of The Mini Unmanned Helicopter

Mini Unmanned Helicopter is a complicated plant with instable, nonlinear, multivariable and strong coupling characteristics. Since the flight control method involves knowledge of varied fields such as Flight dynamics, Sensor theory, Computer technology and Automation theory, it is difficult to control attitude of the unmanned helicopter. With the special flight ability, Mini Unmanned Helicopter has been wildly applied in military and common areas. In conclusion, the research of unmanned helicopter on flight control technology and flight control method design, possess extensive prospect of application and extremely important practical signification.Firstly, the background and development situation of unmanned helicopter are introduced in this paper. Secondly, the unmanned helicopter's stability and operational ability with flight dynamics are analyzed, and then the mathematical model is introduced. Since the complication of the flight characteristics, it is difficult to acquire a helicopter model which is simple, accurate and can be applied in any flight mode. Thirdly, the elements of unmanned helicopter PID control are introduced, and an improved PID control algorithm is provided. The hardware circuit and experimental platform of flight control system are also described. During the period of experiment and debugging process, a test-bed is designed, which can ensure the experiment effect as well as improve the safety. Lastly, the experiment procedure is described in details, and the experiment results demonstrate that the improved PID control algorithm performs well on dynamic performance and stable precision.