Intelligent Control Algorithm Research For Open Control Platform Of Unmanned Helicopter

That Unmanned Helicopter replacing Manned Helicopter, in the uncertainty environment, implements various tasks independently, is a tremendous challenge. To achieve self-control flight, we need complete the work including three aspects: the intelligent flight control algorithm design, the navigation algorithm design and the flight control software and hardware design. An open control platform for unmanned helicopter can solve the dynamic reconfiguration of the control structure, so the controller designers can be absorbed in the intelligent flight control algorithm research.The paper is about the intelligent control algorithm design, which is based on the open control platform for the unmanned helicopter. Firstly, we briefly introduce the open control platform hardware and software problems for the unmanned helicopter, and then described in detail that nonlinear mathematical model of the Culvert Road unmanned helicopter in the open control platform is how to build. Then we solve the question about the helicopter hovering equilibrium, the linear process and the reduced-order problem. Then, we analyse the difference between the nonlinear model and the linear model. According to the above knowledge, we build the model components. Secondly, we have the open loop analysis which is based on the helicopter's hovering 9-order linear model. With a preliminary understanding about the dynamic and static characteristics of hovering, we design the intelligent controller for the helicopter, mainly completing the low-level anti-disturbance robust controller design work, and give the establishment of a low-level controller components. Shortly afterward, we give a brief discussion on the open control platform communications components, which constitutes a comprehensive whole with the above model, controller components. Finally, the discussion of intelligent control algorithm for the unmanned helicopter is finished by the simulation method, and the result proves the effectiveness of the control law for the helicopter.