Design And Control System Test Of An Unmanned Rotorcraft

Rotorcraft is a kind of aircraft with relatively simple structure,large load capacity and high safety.In recent years,navigation and control technology has become more and more mature,unmanned rotorcraft has been the development direction of small general aviation area.With its unique advantages,rotorcraft occupies a place in the field of general aviation.However,the development of domestic rotorcraft is still in the manned stage,only a few universities have carried out unmanned research on the rotorcraft.In this paper,the structure、control platform and supporting ground station of unmanned rotorcraft are studied systematically based on the flight principle and control characteristics of unmanned rotorcraft.The main contents are as follows:(1)In this paper,the aerodynamics of the rotor disk and tail are studied.The layout of the propeller and landing gear is different from that of the manned rotorcraft.The three-dimensional modeling of the whole rotorcraft and the strength simulation of the blades are completed.Then,with hard aviation aluminum、carbon fiber tube and light wood as materials,a small rotorcraft that can meet the basic flight needs is set up.(2)The paper introduces the overall design method of the airborne flight control platform of the unmanned rotorcraft,and explains the internal principle of the hardware used in the flight control platform and completes the selection.It includes: GPS+Bei Dou dual mode positioning module、nine axis attitude module、DSP core board、HC-12 data transmission module、absolute pressure sensor,etc.,and establishes a complete flight control hardware platform by layered method.Then,the control law of the unmanned rotor is studied.DSP software development is completed based on CCS9.2 development environment,and the basic functions of data transmission、attitude control and positioning of flight control platform are realized.(3)Based on the functions that the flight control platform can achieve,the overall framework of the ground station of the unmanned rotorcraft is built,which can realize map loading、route planning、attitude display、data transmission and other functions.Then QT is used as the development framework,Microsoft Visual Studio is used as compiler,and the interface design of ground station is completed.The flight control platform is installed on this unmanned rotorcraft,and the communication between the flight control platform and the ground station is realized through the data transmission module,the functions of the flight control platform and the ground station are tested.Then the reliability of the structure of the unmanned rotorcraft are verified through the remote control flight.At the same time,it also verified the stability of data acquisition and transmission of flight control platform and ground station at high altitude.Experiments show that,this unmanned rotorcraft and its supporting flight control platform and ground station has reached the desired functions.