Giotto-based Flight Control Simulation For Unmanned Helicopter

Nowadays as the flight control system of Unmanned Helicopter is extended to intelligent, the design methods of control system occurs revolutionary change. Control system design from traditional loop developes to the multifunctional-concluded hierarchical complex system . In this thesis, a modular design methods is proposed to build Unmanned Helicopter flight control system,it can be make the efficiency of system development greatly improved.In this paper, the unmanned helicopter flight dynamics module was analyzed , which was produced with three components: wave dynamics, force and torque, rigid body dynamics and kinematics. Then the assumption of small disturbance was used for linear approximation of the flight dynamics modules, which was required for the control system. The Giotto software was introduced in detail, including the structural characteristics and application methods. The isolation of function module design and sequential logic design was realized by using Giotto's E code and S code mechanism. The Function Module was developed by Matlab. The packaging and examination were also accomplished for this module by using S-Function and Simulink. The function modules were converted into the Java class file by using Matlab Java Builder, which can be called directly by Giotto software. Function module's time sequence was called by the task mode of the Giotto program in order to ensure the real-time capability of the visitation from the sensors, drivers, outputs and control law calculation.The design of the flight dynamics and flight control law calculation were finished by using Giotoo and Matlab. The result showed that using Giotto software could effectiveiy realize the modulization design for flight control system.