Research Of The Flight Control System And Autonomously Hanging For Subminiature Unmanned Helicopter

Subminiature Unmanned Helicopter (SUH) has the advantage of the low cost,the small volume,the conveniency for transportation,the small land for flying-off and landfall. Especially,it can hang in the small space. So it has the widely purpose in the military and civial fields. The flight control system is the key of the subminiature unmanned helicopter system. The research of flight control system and autonomously hanging is very valuable.Fistly, from the view of the actual requirement, the sensors,the microchip and data linker of subminiature unmanned helicopter system were choosed. The whole scheme of system is designed on the thought of modularization.Attitude sensors are the key part to the flight control system. For the high precision attitude and heading referrence system (AHRS), the information fuse to the sensors on the flight control system was carried out. The main thought of the data fuse is that estimated attitude was get by the integral the gyroscope, the attitude from the acceleratoremter and magnetmeter was regard as the observation data to correct the error of the estimated attitude and get the error of the gyroscope. Based on the above thought, the new kalman filter mode was put forward and was linearizated and discreted. Finally, the experiment was carried out to testify the performance of the AHRS.To the actual system, the model of system is an importance part. The high precision model is very helpful to the design the control system. For the model of the SUH, the geostatics equation and aerodynamics equation was set up. At the same time, the main blade and the bell-hiller flybar were studied. Based on the above research, the wave angle of bell-hiller flybar,pitch moment equation,roll moment equation and yaw moment equation was got by the reasonable assumption to the geostatics equation of SUH system at the flying state of hanging. So the structure of the attitude model of SUH sytem at hanging was got.To the unknown parameters of the above attitude model,the system identification was carried out. Firstly, the characteristic of SUH system was researched. The flying experimation was implemented to get the data. Then the prediction error method was used to get the unknown parameters. So the integrated attitude model of SUH was got. Finally the attitude model of SUH system was researched by the simulation. The result was that the coupling effect of SUH system at the handing mainly existed in pitch channel and roll channel.The flight control system of SUH system included of the navigation system and attitude control system. And the navigation system was carried out by the contol system being the inner circle. The attitude control system was the basic and key part problem. Based on above analysis, the flight contol sytem by attitude control system being the inner circle and navigation control system being the outer circle was designed. To deal with the coupling effect of the attitude channels, the nerve network athrimetic was dopted. Then the adaptive fuzzy arithmetic was put forward. The performation of the flight control system was testified by the simulation. And the ground surveillance system was designed too.Besed on the low-cost attitude and heading referrence system,system identification,the nerve network decoupled arithmetic and the adaptive fuzzy arithmetic, the software and hardware system was designed. Then the ground surveillance system was designed too.Finally, the performation of the flight control system was testified by the autonomously hanging flight which is the worst flight state. The navigtaion control and attitude control system was proved to be viable by analyzing the flight data.