Rapid Control Prototype Of Unmanned Helicopter Based On NI CompactRIO

With the development of aerospace engineering,unmanned helicopter has been widely studied because of its special performance.The flight mechanics characteristics of unmanned helicopters makes the flight control system difficult to design.Rapid prototype technique can greatly reduce the development period of the control system and reduce the costs.Using rapid control prototype to develop unmanned helicopter flight control system,reduce the development difficulty of the control system and improve the reliability of the system.Based on the above advantages,the design of the rapid control prototype is carried out for the control system of unmanned helicopter,and the structure and necessary components of the upper and lower computer are determined.The related hardware instruments are selected,and the prototype hardware platform based on CompactRIO is established.In view of the characteristics of unmanned helicopter flight control system,dissimilar redundant sensors are adopted in terms with three different strap-down INS systems.Based on the comparison of the structure of the redundant system,the voting structure of the redundant system is determined.The voting strategy is designed based on LMS algorithm,and the threshold value in the voting strategy is determined.Based on the concept of data flow,the LabVIEW is used to develop the hardware driver and the sensor data processing program for each module in the platform.By combining with LabVIEW and Matlab/Simulink,flight controller is designed and deployed to CompactRIO.Finally,the ground control station monitoring platform is developed and the relevant ground test is carried out.The rationality of the unmanned helicopter rapid control prototype is validated by the ground test.