The Research Of Controller Method Of Helicopter And The Development Of 3D Visualization System

The thesis mainly describes the design problem of helicopter flight control system and the mobile flight simulation. The decoupling controller and several mode controller are respectively designed. Based on the typical flight task of helicopter, a visible demonstration system based on OpenGL and Visual C++6.0 platform is built.Firstly, the flight dynamics model of helicopter is established. According to the calculation of aerodynamic force and moment from several parts, the nonlinear dynamics model prepared for the mobile flight simulation is obtained. Also, the little perturbation linearization equations are established after some special flight condition, such as hovering and low velocity flight states. Then the linearization equations are used to design the controller of all channels, such as longitudinal, lateral, directional and altitude.Secondly, based on the little perturbation linearization equations after the hover and low velocity flight state, according to the predefined performance target the controller of longitudinal and lateral are designed by using the LQ method. In the process of working out the Ricati Equation, the weighted matrixes Q and R are selected by fixed method in order to obtain the optimal feedback control gain.Thirdly, the decoupling controller is designed based on the full state equation of helicopter. According to the idea of inner/outer loop design from implicit model-following decoupling control system , the design of controller can be decomposed into inner and outer parts. In the inner loop, in order to recv better decoupling control performance by using eigenstructure assignment methods, and use the single-input/single-output control method of classical control theory. However, single-input/single-output control method of classical control theory is utilized in the outer loop design. So, the whole loop decoupling control designing becomes more simple and easily.Fourthly, the simulation of helicopter mobile flight tasks. In order to reflect the simulation outcome fully, intuitively and the variation of helicopter's status. The environment, such as terrain,sky,sun,sea wave, are rendered by using OpenGL simulation software combined VisualC++6.0 exploitation platform. The helicopter model is imported to the exploitation platform by 3DMax software. After the calculation of the nonlinear dynamics model of helicopter and the flight control system. The 3D animated simulation is implemented based on the helicopter typical longitudinal and lateral flight tasks, such as hover landing, Bop-Up and Bop-Down, Aceeleration and Deeeleration, coordinate turn, Slalom and so on. And the status of helicopter, such as velocity,position,angle velocity and the manipulated variables, are drawn timely in the interface of the simulation software. So, the ability of accomplishing mobile flight task of helicopter can be checked by the status variation cures.In the end, the conclusion is made about the content in this thesis, and the further task should be taken in the flight simulation and control system designing of helicopter.