Mini Unmanned Helicopter Flight Control System Research And Design,

Autonomous miniature helicopters, which have been used as the study object of many institutions all over the world, are comprehensively applied both in military and civilian areas. Flight control system of an autonomous miniature helicopter is very important, and it determines various flight performances. Therefore much research work is needed for flight control system.Develope a perfect flight control system platform for autonomous miniature helicopters is helpful to flight navigation research, control algorithm design, and control system development. In this paper, the whole design of flight control system is firstly introduced. Then hardware and software are designed, including hardware selection, hardware design and software design of dominating function module. Great deal of debugging work is carried out. Various problems encountered are solved in the process of debugging. After that, attitude matrix and Strap-down attitude arithmetic-quaternion used in Strap-down Inertial Navigation System (SINS) are discussed. As drift is exist in the attitude measure based on gyros, complementary filter is designed and experiment results are given. To increase the precision of measurement, the error of MEMS sensor is analyzed and effective calibration method is discussed. Lastly, heading control law is designed, and heading control is realized.