Research Of Control Strategy Based On 3-dof Helicopter Experiment System

Helicopter has very complicated dynamics characteristics, it has changeful flying state. Its dynamics characteristics change depends on the flying high and the flying state. It has non-linear and multi-variable coupling characteristics and so on. Usually it is very difficult to be described by exact math model. Till now, many scholars and researchers are researching hard on different control capability aspects. Through the research of modeling, designing, simulating, it can improve the application of control theory and technology which working on the complicated system. So the research on the theory and the designing of helicopter has very important practical meaning.In this paper, I use the 3-Dof helicopter experiment system which made by Googol.Ltd as the experiment system. Base on the helicopter's difficult characteristics, I analyse the system. I model the flying model and analyse the multi-variable coupling of the helicopter. Aiming at the coupling characteristic, I use PID controller and decoupling matrix together to control the system. Concerning the uncertain parameter of the system and PID controller can't fit to the object whose parameters change all the time, I use fuzzy controller to control the system, this method conquers the shortcoming of pure PID controller. Base on the excellence of PID and fuzzy controller, I combine PID and fuzzy controller together as one controller which fit together with weighted value. This method makes good use of the smooth of PID output and the adaptability of fuzzy controller, it optimize the flying gesture of the helicopter experiment system.This helicopter experiment system uses the motion controller card---GT-400-SV PCI. Under the control of this card, we can control the velocity of the two screws, it can return the real-time data of the helicopter, so we can control this helicopter well. Aiming at the worse flying gesture of stop of primary system, after researching the hardware and the structure of the system, I redesign the model of the control system, improve the gesture of stop, it works better.