Research On Predigestion Model And Control System Design For Miniature Unmanned Helicopter

As its advantages of small shape, light quality, good flexibility, easy to achieve hovering and able to hedgehop, Miniature Unmanned Helicopter (MUH) has a wide application foreground in both military and civil field. Nowadays, the research of MUH attracted many organization and institution both at home and abroad. The key of MUH's research is modeling and using diversified methods to design the flight controller.In this paper, "Thunder Tiger" Raptor 60 v2 helicopter was researched. With analysis of its characteristics of main rotor, flapping dynamics, fuselage forces and moments, a predigestion model for hovering was constructed. And both series scheme and LQ schemes method were used to design the flight controller based on this model. In that, the scheme which based on root locus technique or PID series control system not only acquired good simulation effect, but also used successfully in real system. On the other hand, the design of status feedback system which was based on LQ method also achieved good simulation effect. At last, this paper balanced and analyzed the characteristics of these two controller design schemes.