Small Four Rotor Unmanned Helicopter Control System Design

The history of four rotor helicopter is almost as long as humanity's aircraft history. But because of the shortage of complexity and the maneuverability, it develops very slow. Recent years, along with new material, MEMS, MIMU and the flight control theory's progress, unmanned four rotor helicopter obtained more and more attention.The main content of this paper is to design the controller of unmanned four rotor helicopter. The control system is divided in six independent modules according to the function:navigation system, controller, software system and debugging.The navigation system is a important component of the unmanned four rotor helicopter. According to the actual system, this paper designed a simplified inertial navigation system, and has carried on the reality system test.The attitude control is the core question of flight control, unmanned four rotor helicopter structure specificity decides the specificity of the controller:unmanned four rotor helicopter has four propellers, may output four upward thrust forces, but have six control aims. The control system department needs simultaneously control four rotor's thrust forces to achieve the flight plan. This paper has built system's model and designed the PID controller control the attitude. From the results of actual system and simulation we have got a acceptable control effect, it verified the validity of the control system design.