Study And Design Of Fly Control System For Subminiature Unmanned Aerial Vehicle

The helicopter has the advantage of being able to vertical take-off and landing, side flying, hovering etc. Because of its flexible flight strategy, the helicopter can also flight free and hover in the air for a long time even in a limited area. Subminiature unmanned helicopter which has the autonomous flight capacity possess a wide range of applications both in military and civilian aspects. For example: geological exploration, aerial photography, security patrols, combat assault, resources exploration, forest fire prevention, film shooting, pesticide spraying etc. However, the unmanned helicopter is a nonlinear, strong coupling and non stable dynamical systems. The helicopter is susceptible to wind disturbance especially in hover flight condition. Therefore, autonomous flight control technology has become a research focus in many research institutions, including military and university in many countries.Based on the analysis of the domestic and international research foundation, this thesis use the modular idea to design and implement an airborne unmanned helicopter flight control hardware system, which includes power module, switch module, control module, data acquisition module, sensor module and communication module. Through the ground tests and flight experiments, the flight control system is proved to meet the design requirements and have stable performance.The main research contents and results of this thesis are as follows:(1) During the hardware equipment installation process, on the one hand we need to consider the unmanned helicopter is in an intense vibration electro-magnetic and Strong radio frequency interference environment. These interference will affect the accuracy of sensor data. On the other hand, we need to consider the weight, power consumption, size of equipment affect the flight quality of helicopter. After a comprehensive analysis of these factors, a reasonable and feasible installation scheme was designed, which meet the unmanned helicopter flight control system hardware installation requirements.(2) The design and implementation of ARM data acquisition module was completed. In order to ensure that the program in main controller can be exexuted smoothly, the real-time data acquisition task was separated from the main controller. Mini2440 be used as a data acquisition board, responsible for sensors data acquisition and processing.(3) Manual/automatic switching module have been designed and achieved. It recceives the PWM signal from the remote control receiver and the flight control system of the main controller, according to the ground remote control instruction, switch the helicopter between automatic and manual remote control, and it output PWM signal directly to the servo control.(4) In order to ensure the implementation of flight experiment, experiment detection scheme for unmanned helicopter flight control system was designed in detail.(5) The outdoor flight control experiment have been completed. Based on the analysis of experimental data, the flight control system design was verified correctly.The achievement of this paper provides a vital foundation for the research and application of the miniature unmanned helicopter. The flight control system has been successfully applied to the Align 600 helicopter control experiment. This unmanned helicopter can complete automatic take-off, hovering, fixed-point flighting and automatic landing. Through above experiments, the flight control system design was verified reliable and effective.