Control And Measurement Technology Of Unmanned Gyroplane

Control and measurement technology of unmanned gyroplane should be studied in order to real-ize reliably flight. In this paper, a type of unmanned gyroplane was used as the research object,mathematical model of the ground run unmanned gyroplane, automatic takeoff control strategy, flightnavigation control system and ground detection system design and implementation were studieddeeply.The integration development technique of the flight control computer, AHRS and air data com-puter was studied in this paper. The core components of unmanned gyroplane flight control system--the design and development of the flight integration air data system was discussed. a set of control-ler using TMS320F28335processor, strap down inertial measurement unit and the MEMS device wasdeveloped to completes the integration of the flight control laws, attitude heading solution and airdata measurement. Attitude Update algorithm based on quaternion was proposed which is a kind ofMulti-sensor data fusion algorithm that use the Acceleration data and the data from the Magneticcompass to correct the data from Gyroscope.it shows high Performance of all aspects in the test andwas used in the flight control system of the unmanned gyroplane successfully.The ground detection technology was studied and according to the unmanned gyroplane sample,a set of special ground detection system with easy maintenance and complete testing was developedand used for unmanned gyroplane avionics system for single board testing, unit testing and systemtesting. After the study of the Principle of automatic test, a set of flight control auto detection systemwas developed. The system uses the DSP microprocessor as its core as well as the Microsoft VisualC++program as its platform. The detection principle，method and the utility of several typical avi-onic device detection equipment at all levels was discussed in detail。And then，in order to realize the unmanned gyroplane security take-off, effectively control in theslide stage is essential. Firstly, mathematical modeling and mechanism analysis in the slide stage wasstudied by using the knowledge of dynamics and kinematics while the handling characteristics of eachchannel are analyzed.after analyzed the utility of the front wheel, lateral steering and rudder in slidingcontrol, a Combined control scheme which use the strategy of Time-sharing piecewise and Weightdistribution to the three control ways was proposed and the lateral and longitudinal control loop wasalso designed. Effectively control the ground slide stage of gyroplane and compensate for the lack ofroll control by using separate channels.Through hardware in the loop simulation test and field test slide verified that the unmanned gyroplane flight control system and sliding control strategy has goodquality and performance.