| Unmanned helicopter6-DOF simulation platform is a multi-discipline integration system consistsof flight dynamics, servo control, electronics and machinery. This paper takes an unmanned helicopter6-DOF simulation platform development process as the background, and the whole work of this paperincludes mechanism of the6-DOF simulation systems, the servo control of simulation platform, therealization of control system based on the embedded computer and the key technologies used onunmanned helicopter6-DOF simulation.Unmanned Helicopter6-DOF motion simulated platform is a hards in loop platform used onsimulating helicopter landing motion and automatic flight control. It can be used on simulating theattitude motion and the three-dimensional rotational movement in the ground axes of unmannedhelicopter. A design scheme of6-DOF motion simulated platform is presented in this paper, which hasobvious advantages in the range of motion compared to the commonly used parallel type6-DOFmotion platform. The platform adopts the method combinating the attitude motion and the rotationalmovement, so that it not only can truly reflect the motion characteristics of the spatial motion, but alsohas a large range of motion simulation and a good dynamic characteristics of excellent characteristics.Firstly, A new design method of configuration for6-DOF motion simulation platform is proposed.According to the main technical index of the platform, the whole design scheme of configuration ispresented, as also as the structure word method of the platform. Based on analysis of the workingprinciple included in the platform, the conversion rules between location and attitudes of motion partand executors are established, includes positive solutions and the inverse solutions for location andvelocity, and the model of executors included in motion part is established and analysed also.Secondly, the servo control methods of6-DOF motion configuration are researched. Based onanalysis for characteristic of the motion configuration, the control strategy and control law used on the6-DOF motion control system are presented. The controller in velocity tracking loop and locationtraching loop are respectively designed by frequency correcting method and normal control methodwhich belongs to classical control theory. Sliding mode variable structure control method is presentedfor location control law designing, against the super low velocity creep caused by friction disturbance,so that the problem of location control loop low velocity creeping is solved, and a simulatingexperimentation alslo demonstrate the effectiveness of the proposed approach. Then the realization ofcontrol system is analysed. According to control index, hardware and software used for control systemof platform is introduced. Finally, the whole6-DOF motion simulating system realization is researched, and the model of fullamount motion equation and the small linear disturbance motion equation reduced order of sampleunmanned helicopter are established. According to given linear equation, the optimal state feedbackcontroller based on quadratic performance index is designed, which transforms the unmannedhelicopter from static unsteady object to steady and controllable object. A6-DOF motion simulationstrategy for the unmanned helicopter under artificial control and automatic control respectively ispresented. Moreover, simulating experimentation to the whole system of classical flight pattern forunmanned helicopter is also provided to demonstrate the effectiveness of the proposed approach. |
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