Research And Implementation Of Adaptive Control For Small-scale Helicopter

Small-scaled helicopter has the advantages of light weight, small size and low consumption.Compared with fixed wing aircraft, it has some unique features including hover, vertical takeoff and landing, maneuver flight and so on. So it has drawn huge attention of academe with wide and prosperous applications in both military and civilian areas. In this paper, flight control algorithm of small-scaled helicopter was studied and simulation results verified the effectiveness.The outline of this paper is organized as follows:Firstly, coupling among state variables were ignored from the viewpoint of engineering application. As a result, state equation was simplified to a four-channel model.Secondly, hardware platform with dual core was presented after analyzing the performance and structure characteristics of helicopter. Navigation and flight control were considered. DSP module was designed to calculate navigation and actuating single was generated with flight control program running on ARM module. Hardware platform was designed and implemented.Thirdly, the characteristics of different flight modes and the relationships among position,velocity, attitude and some other parameters were analyzed. Then the position of helicopter was used for navigation. Velocity and attitude controllers were in serial with PID method. And the effectiveness and stability were validated by simulation experiments.Fourthly, the ability of anti-inference was taken into consideration. Acceleration feedforward was used in attitude control and parameters of velocity controller were adjusted with fuzzy algorithm. The results of contrast tests revealed that the improved algorithm was able to depress the disturbance better in hover state.Finally, helicopter has already finished the whole flight task on the platform with the adapative serial controller. Accuracy, stability and response speed had good performance in simulation results.The experiments both validated the usability of platform and the effectiveness.In general, the hardware-in-the-loop platform can not only testify the effectiveness but also simplify the process between simulation and actual flight. Also, feedward combined with adaptive method can improve the disturbance rejection ability and adaptive capacity to environment.