Small Unmanned Helicopter Flight Controller Parameters Self Optimization

Our laboratory mainly focuses on the navigation control of small oil-operated helicopters,and carries some cameras,heads,and laser barrels to perform tasks such as fire monitoring and terrain scanning.As the helicopters are frequently replaced by newer generations and replaced with on-board equipment,the characteristics of the system will change,and it will be necessary to repeat the adjustment experiment to adapt to changes.Therefore,in order to save valuable labor and experimental funds in the laboratory,this paper studies a parameter self-optimizing algorithm.This makes the helicopter adaptively adjust the parameters of the controller according to the change of the object model if the characteristics of the helicopter do not change much.This papaer studies and designs the self-optimizing algorithm for the flight controller parameters of a small unmanned helicopter,which is based on the control algorithm of the controlled object model.Therefore,the content mainly includes two parts: the small unmanned helicopter system model identification and the corresponding parameters self-optimizing algorithm based on the identification model.The main content of this article is as follows:(1)Theoretical analysis establishes the mathematical model for each channel of a small helicopter.By analyzing the mathematical model of the components of a small unmanned helicopter and understanding its working principle,then according to the working principle of a single channel,a parameter model for each channel is established.In order to facilitate the design of the algorithm,mathematical models are approximately simplified.(2)The identification of each channel of the small helicopter is based on the parameter model obtained from the previous theoretical analysis and the characteristics of the corresponding channel,and the corresponding identification input and identification method are selected.Identify the unknown parameters in the corresponding parametric model and verify that the approximate simplified model established in the previous theoretical analysis meets the accuracy requirements.(3)Parameter self-seeking algorithm research design,has been analyzed and verified in front of the mathematical model of each channel.In this dissertation,a parameter self-optimizing algorithm is designed to make the flight control system adapt to the new system according to the change of the controlled object’s characteristics.This makes the controller of the flight control system more robust.(4)The parameters are self-optimizing experiments,and relevant algorithms have been designed according to the foregoing.The algorithm maps the PID parameters of the controller to the given performance of the closed-loop system,so that the controller can still obtain the same closed-loop response characteristics when the control object changes.When we carry different loads on different parts of the helicopter,the algorithm can effectively adjust the controller parameters to overcome the deterioration of the control performance caused by the change of the controlled object.