| Quadrotor unmanned helicopter is a kind of multi rotors unmanned aerial vehicle(UAV),which can be vertically taking off and landing (VTOL), hovering in the air and has otherspecial flight capacity. By changing the four rotor’s speed, it can produce a variety of flightstates and has very strong maneuver performance. Tethered aerostat can realize signaltransmission between the aerostat and the ground and provide the electricity that is necessaryfor its high efficiency and constant work for a long time through a cable. Tethered unmannedquadrotor helicopter (TUQH) has both advantages of quadrotor unmanned helicopter andtethered aerostat that has strong maneuvering performance, small wind interference, largepayload capacity, long continuous working time etc. The domestic study on this aspect islimited which may be the breakthrough of this paper.The key point of the research in this paper is that the model of TUQH is established andthe controllers are designed. Firstly, introduce the background and significance of the TUQH,summarize the research of control algorithms at home and abroad; Secondly, the basic motionand principle of TUQH are analyzed, the tension expression about the displacement isobtained by analysis the force of the cable, the angle between the cable and the helicopter canbe obtained by using fzero() function that can get the cable’s force at every point; Thencomplete its dynamic model on the analysing the force and the torque by using Newton andEuler’s theorem based on the physical model; Thirdly, the Proportional-Integral-Differential(PID) controller and the fuzzy PID controller are designed based on the PID algorithm andfuzzy algorithm. Hovering control of the quadrotor unmanned helicopter and the TUQH aresimulated by the PID controller and the impacts of the cable effects on the helicopter areanalyzed; Hovering control and trajectory tracking experiments are carried out by the fuzzyPID controller to achieve a better control performance. |
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