Augmentation Experiments System Design And Control Algorithms Of A Small Unmanned Helicopter For Aerial Photography

Small-size Unmanned Helicopter (SUMH) plays a more and more important role in national defense and civil life. At present, due to the SUMH has its own characteristics and application domain, the developed countries are doing research on the SUMH actively, but our country is lagging in this area.The difficulties of developing SUMH for aerial photography are flight attitude automatic stability control. Helicopter has six degrees of space freedom in flight, The balance control by generated by rotating rotor lifting surface of the vector component and torque generated by the tail, difficult to control than fixed-wing aircraft. A method determining stability augmentation system algorithms and controls by experiments, and applied hardware and.software system realizing the above stability augmentation testing method presented. The system is composed of two parts, i.e. airborne parts and ground systems. Airborne parts include acquisition of up-down and ailerons steering engine receiver signals; acquisition of pitch, incline signals and error signals; correction signal calculation; up-down and ailerons steering engine control output signals; telemetry signal output, Wireless Data Transmission. Ground systems include wireless data transmission modules, computer hardware and application software developed with Delphi software having data receiving, calculation, numerical display and graphics display functions. Then, in the MATLAB environment to build on a SUMH stability augmentation control system Simulink model simulation, analysis of control effect.Construction of a based on micro-electromechanical sensors, the use of single-chip microcomputer to control the small unmanned helicopter stability augmentation experimental system platform, which can detect the helicopter attitude and carry out control of stability augmentation in this issue. First, the signal is collected by tilt sensor, magnetoresistive sensor and GPS modules, the data such as helicopter's pitch, tilt and direction and position are transmitted to PC from the singlechip computer, and they are analyzed and processed by PC, and then stored in the database, these have been studied. Second, research on in the MATLAB environment, according to the SUMH stability augmentation control system Simulink model simulation. Because the advanced control theory for research and specific implementation projects exist difference, the stability augmentation testing system necessary for practical applications, request smooth flight and provide a stable video image rather than require the helicopter neither do complex moves nor fast action, rounding the nearest fast response and achieve a stable flight attitude. So, do not set up the complex high-end model, the use of adaptive fuzzy PID control algorithm to achieve stability augmentation control. In this paper, use of S function for adaptive fuzzy PID control algorithm programming, achieve better real-time control effect.Ground online tests show that the stability augmentation testing system can accurately collect pitch, incline signals and control signals from the receiver and transmit required testing data. The ground system graphs and data display are normal. In the MATLAB environment simulation show that use of adaptive fuzzy PID control algorithm for SUMH to conduct stability augmentation flight attitude control is feasible. The research preliminary completed the SUMH stability augmentation flight attitude control system design, for the ultimate realization of SUMH stability augmentation control laid the foundation.