Studies On The Control Systerm Of Small Unmanned Helicopte

It is one of the hottest international research topics for the small unmanned helicopter to be controlled, whose flight mode currently is limited mainly by remote controlled, while the research of automated flight control is on the rise.The modern unmanned helicopter flight control system is generally composed of the flight control computer, the servo driving mechanism, the sensor, and the ground monitor control system etc.In this thesis the research to the helicopter flight characteristics was conducted at first, and its flight dynamic model was preliminary discussed, especially the mathematic model under hung-stop condition was formulated and the algorithm of the controller was designed in detail. After that a control system of the unmanned helicopter in high stability was analyzed with the system principle and control law, with which the design task and its design rule was proposed.Finally according to the performance of unmanned helicopter model, we designed the hardware and software of the servo control system based on aμPSD3234A MCU. Also we built a test platform for the helicopter system. Moreover, combined with the national 863 projects-- "the Distributed Initiative Sensor System Based on Multi-robot and Mobile Communication Network", we achieved the information transmission including the image's data based on the Ad-hoc wireless local area network.