Design And Flight Control Research Of A Micro Unmanned Helicopter For Individual Reconnaissanc

In the individual unmanned reconnaissance system,miniature aircraft are widely used in military reconnaissance,environmental detection and other scenarios due to their strong concealment and high reliability.Research on miniature aircraft has gradually become the research focus of various countries.This paper proposes to design a small unmanned helicopter based on a single rotor with a tail rotor,and conducts research on its hardware selection,dynamics modeling,attitude filtering,flight control and other aspects.Referring to the design methods of micro UAV at home and abroad,a micro unmanned helicopter platform is preliminarily built from the aspects of sensor selection,power system,remote control system and communication system.Focusing on the reduction of volume and quality,the helicopter main rotor system,tail rotor system,fuselage and other parts of the structure were designed,and the relative layout of the tail rotor was studied to provide a hardware foundation for the development of micro-unmanned helicopter flight control.According to the general knowledge of aerodynamics,through certain assumptions and simplification,the aerodynamic modeling of various components of micro unmanned helicopter is carried out,and the kinematics and dynamics equations of helicopter are constructed.Under reasonable assumptions,the linear equations of helicopter are obtained by using decoupling idea and small disturbance linearization method,which lays a theoretical foundation for helicopter flight control.The filtering algorithm of helicopter flight attitude is studied,and the attitude calculation based on gyroscope,accelerometer and magnetometer are studied respectively,and the effect of Kalman filter is verified.The attitude control based on the classic PID is studied.The results show that the classic PID control has a better step response and sine response,but the PID controller is less effective in the case of interference.On this basis,the attitude control algorithm based on improved ADRC is studied,and the feasibility of the controller is verified by Simulink simulation.The simulation results show that the control effect is better than the classic PID control when there is disturbance under the active disturbance rejection controller.The nonlinear controller based on double-layer loop is studied,which is mainly used for hovering simulation and trajectory tracking.The good performance of the designed controller is verified by simulation.The results show that in the hovering simulation,the vertical direction is stable for about 1.8s,and then the horizontal position is stable and hovering after 3.5s.In the trajectory tracking simulation,it reaches the ideal trajectory in about 5s.Finally,a real flight of the whole machine is carried out.Through the corresponding software,the flight results show that the micro unmanned helicopter can maintain a good hovering state.The reliability of the designed micro unmanned helicopter is verified by means of forward flight,rear flight,hovering and high flying.The actual flight effect is verified by analyzing the data collected in the hovering state.