Control Algorithm Study And Fliaht Simulation System Development For Unmanned Helicopter

Compared with the fixed-wing planes, unmanned helicopters have a number of unique functions such as vertical takeoff and landing, low-speed cruising, spot hover and so on. Therefore, they are able to replace human beings to perform a great many of complex and challenging tasks under harsh conditions. Till now, it has been wildly used both in military and civilian. In terms of military, it can be used as detecting enemy, electronic countermeasure, information attack, and precision strikes etc., while with regards to civilian, the application involves in various aspects such as life searching in the earthquake-stricken area, detection of forest fires, power line inspection, aerial photography and air signals relay. With the improvement of its technologies and performances, the range of the application continues to expand. Recently, the research of UAVs has boomed. Many research institutes and universities focusing on studying autonomous flight control of UAV have achieved a certain degree of success. But it is a nonlinear unstable system because there are multiple inputs and outputs, high couple among different channels and changeable flight modes. Besides, it usually works under adverse conditions, where there are flying birds, power lines, winds and other interfering factors and all of which has brought about tremendous changelings.This thesis focuses on studying the flight control method of a model, providing theoretical basis and simulation platform for the design of controller, verifying more control algorithms theoretically before engineering practices and improving the design efficiency of the controller and reducing the risk coefficient of the experiments. This thesis aims at solving the following problems. First of all, from the point view of helicopters’ structure and aerodynamics, it defines the differential equation of the helicopter under the hover condition by the means of mechanism modelling and concludes a state space model by linearization of small perturbation. In addition, it identifies the unknown parameters in this model by the frequency domain identification technology with coherent analysis. Furthermore, it designs the control algorithm of spot hover based on PID and FUZZY and simulates this model in MATLAB/SIMULINK. After that, this control algorithm is transplanted in a real flying platform to conduct real flights. Besides, this thesis also develops the three-dimensional visualization simulation system based on Open GL by importing the 3D model of the helicopter into flight system and wireless data communication to implement the visualization in local flight situation.