Unmanned Helicopter Flight Control Algorithms

With high agility and high accuracy, and being safe and reliable in flight, unmanned helicopter has a broad prospect in city traffic monitoring, landform mapping and battlefield reconnaissance. The constitution of the dynamic model of helicopter, together with the control method for flight, is crucial problem which must be solved. On the achievements of research home and abroad, this paper mainly solves the following problems:Firstly, the dynamic model of six freedoms is established, and then the aerodynamic model of rotor is developed using the momentum theory and the blade element theory. Based on these models, properties of the open loop are analyzed in detail, and the problem of coupling is discussed.Secondly, attitude control algorithm and position control algorithm are developed. The attitude control algorithm is based on dynamic inverse control method. The algorithm is adaptable, with the use of neural network compensating the error between the model and the real helicopter. With a PD controller in each channel, the trajectory tracking control algorithm is formed.Lastly, using Unscented Kalman Filter, the state variables are estimated from the sensor data.