Design And Engineering Implementation Of Autonomous Flight Control System For Unmanned Helicopter

Unmanned helicopter has good maneuverability and wind resistance,and can complete low-altitude flight,rotation flight and other special flight actions,so it is widely used in military strikes and civil disaster relief,survey and other scenarios.At present,there are many studies on autonomous flight control system of multi-rotor unmanned helicopter,but the research and engineering implementation of autonomous flight control system of unmanned helicopter are relatively few.Based on the theory of helicopter flight control,this paper analyses and designs the autonomous flight control system,ground station software system and data link system of unmanned helicopter,and explores the establishment of formation flight control architecture of unmanned helicopter.The main contents of this paper are as follows:1.Taking Trex-600 small electric helicopter as the research object,the mathematical model is analyzed,and the attitude,altitude and fixed-point automatic flight control algorithm is designed based on cascade PID,and the algorithm simulation and parameter tuning are carried out.The simulation results show that the designed automatic flight control algorithm has fast response speed and high control accuracy,which lays a theoretical foundation for the subsequent flight controller hardware and software design and debugging.At the same time,the sensor data fusion algorithm is discussed based on complementary filtering,which provides a theoretical basis for the design of attitude estimation software.2.According to the design requirement of autonomous flight control system of unmanned helicopter,the design of the built-in hardware and the selection of the external hardware of the flight controller are completed,and the autonomous flight control algorithm and the helicopter output control allocation law are realized.At the same time,the hardware of wireless data transmission is selected,and the data link communication protocol is realized.Finally,the test results of the flight controller show that the functional indexes of the flight controller are normal and can be used for subsequent flight control research.3.According to the design requirement of autonomous flight control system of unmanned helicopter,the software of ground station is designed.The functions of flight data display,map point planning and wireless data communication are realized.The software test shows that the ground station can receive and display flight telemetry data in real time,locate unmanned helicopter successfully on the map and plan the flight points,and send commands to flight controller to meet the requirements of autonomous flight control system.4.For the flight test of autonomous flight control system of unmanned helicopter,a series of safety regulations and debugging charters for unmanned helicopter flight test are first designed to ensure the safety of flight test.Secondly,under the premise of solving the vibration of unmanned helicopter airframe,the attitude,fixed-point and fixed-altitude flight parameters are tuned based on simulation PID parameters.Finally,the square airline test shows that the system has good performance,can achieve fixedpoint,fixed-altitude and airline flight tasks,and meet the requirements of autonomous flight control system.5.For the formation flight control architecture of multiple unmanned helicopters,the formation flight control sub-interface and control program are designed in the ground station software,two unmanned helicopters are used to reconstruct the formation and test the formation flight.The experimental results show that the framework can accomplish basic formation flying tasks and lay the engineering foundation for future formation research.