| In recent years,the unmanned helicopter with its simple structure,low noise,capable of vertical take-off and landing and flight flexibility has been widely used in civil,military and entertainment industries. But due to the control system of the unmanned helicopter has high complexity and strong coupling,how to realize the stable control of unmanned helicopter is a big challenge that the unmanned helicopter academic research will face with.This paper is on the base of model helicopter as the research platform,and is mainly working for the hardware design improvement of the model helicopter,mathmatical modeling and designing an adaptive sliding mode controller.Firstly,this paper systematically discusses the research background,research significance and domestic and foreign research status of the unmanned helicopter,and then puts forward the main research contents of this paper due to the unmanned helicopter existing problems and the development of the situation.Secondly,in order to improve the stability of the flight control board,better to control model helicopter to complete flight mission,the hardware design of the old APM control board is improved,and the flight control of unmanned helicopter part is divided into two parts,including the main control board and GPS module.The whole hardware platform includes microprocessor module,wireless communication module,inertial measurement module,motor drive module and power supply module.Finally,according to the established model of helicopter nonlinear dynamic model and dynamic analysis, a PID controller is designed to improve the response speed and to reduce the bias errors of the system, so as to improve the stability of the system. At the same time, Simulink simulation module is established, and it is proved that the feasibility of the PID control algorithm in the application of the model helicopter. |
