Unmanned Helicopter Flight Control And The Realization Of Visual Simulation

At present,With the rapid development of economic and technology level,high-performance unmanned helicopters have become an urgent demand for military and civilian use in China.At the same time,flight visual simulation technology has emerged as the times require,providing a powerful solution for the development of high-performance helicopters tool.The development of high-performance unmanned helicopter involves complex mathematical techniques such as helicopter mathematical model and controller system design.In this paper,a cascade linear auto-disturbance rejection flight controller for unmanned helicopter is designed by mechanism modeling method,and the linear auto-disturbance rejection controller(LADRC)is further improved.At the same time,in order to solve the traditional flight controller simulation,only the text form and the two-dimensional curve form can be realized,which cannot meet the increasing flight simulation requirements.In the Visual C++ environment,a real-time flight vision simulation system has been developed by using OpenSceneGraph 3D development tools and accessing Matlab calculation engine and 3DS MAX 3D model making software.The main work of this paper is the following items:1.Based on the actual mechanical characteristics of the unmanned helicopter,the nonlinear model of the unmanned helicopter is constructed by analyzing the conversion relationship between the body coordinates and the ground coordinates.Then it is linearized by the small perturbation method to obtain the final mathematical model of the unmanned helicopter,which lays a solid foundation for the subsequent flight controller research.2.Cascade LADRC controller is designed here.Based on the mathematical model of unmanned helicopter established in this paper,a cascade linear auto disturbance rejection controller for unmanned helicopter attitude,speed and position is designed,and tracking differential is added based on linear auto disturbance rejection controller(LADRC).The improved LADRC controller was validated by a subsequently designed flight vision simulation system.3.The 3D model for realistic unmanned helicopters and scenes is built by using 3DS MAX,and using the OSG 3D engine is to build developing a flight vision simulation system in Visual C++ environment,and draw special particles such as sky and sun,and configure 3D simulation.The key elements of the relationship between the coordinates in the environment,the three-dimensional model of the simulation object and various virtual scenes,and finally the real-time data link between Matlab/Simulink and the visual simulation system can simultaneously display the simulation results of the two-dimensional curve and the three-dimensional animation.A seamless transfer of interfaces between multiple software is achieved.4.Using flight vision simulation,the performance of the cascade LADRC flight controller and the flight visual simulation function are verified by giving two unmanned helicopter missions.The unmanned helicopter is completed according to the 3D simulation animation and 2D simulation curve analysis.The performance of the performance of the unmanned helicopter when the mission is completed is verified.The controller has good control effect and shows that the flight vision simulation system is feasible and intuitive.