The Design And Realization Of Stability Augmentation System For MUH

The Stability Augmentation System for MUH is a auxiliary system for attitude controlling with the characters of low-cost, independent, safe and reliable. It is applied to maintain the stability of MUH. Although the MUH control tends to automation, manual flight control is still indispensable, in many flight occasions such as taking off and landing of MUH, flight training, aerial photography and so on. Because of the inherent unstable characteristics of the MUH, which will lead to the demand of control is very high. Manual participate in flight control requirements operators have rich experience, even so the safety is still not guaranteed, and this is why the stabilization augmentation control system’s designing is of very high engineering value.This thesis is mainly around the stabilization control system of small-scale unmanned helicopter in the aspect of designing and realization. First of all, the current situation, background and significance for the stabilization control of MUH are analysed. Then proposed a control scheme, that is the flight control hardware platform of stabilization based on a kind of embedded processors. In the process of hardware selection and designing, the modules, such as the collect circuit to sensors, communication circuit, the power supply circuit, isolating circuit, are comprehensive tradeoff in the cost and performance. And the ground station is designed for the purpose of data analysis, graphics display.As-a stabilization system measurement unit, high frequency vibration noise is a catastrophe. We should design the effective damping link to reduce the system’s vibration, and then the outliers eliminating of gathered data, as well as inertial sensor calibration processing must be proposed. The precision attitude values which are obtained by the estimate algorithm of gravitational complementary filter based on filtering switching are used as the feedback of this system.Stabilization control laws are by means of angular rate feedback system to increase damping, attitude feedback, multi-loop cascade PID control respectively. Then the paper analyzes the feasibility and effectiveness of the three methods in theory. By the experience of hard-in-loop simulation and the process of flight, this three control laws are compared in order to analysis the advantages and disadvantages of each method. Experimental results show that this co-stabilizer has a satisfactory performance. Not only the operator’s pressure can be relieved, but also the difficulty of remote controlling can be lower.