The Research On Control Strategy Of Small-scale Unmanned Heliconter Tracking Ground Moving Target

Small-scale Unmanned Helicopter(SUH) possesses the unique capability of VTOL (vertical take-off and landing) as well as hovering. These abilities make the SUH irreplaceable during searching and tracking targets, reconnaissance and rescue mission, etc. With the development of the airborne visual technology, the application of SUH tracking moving targets based on the extract information from onboard visual system becomes valuable in various areas, such as space battle, ground attack, maritime search and rescue, and automatic landing on moving ships.In this paper, the research object is the SUH of Hirobo90. Based on the mission of tracking moving target using visual system, the control system software is established, the simulation platform of the helicopter tracking targets is built, and the control strategy of tracking moving target on the ground using visual system is proposed and verified based on actual flight experiments. The main duties and contribution of this paper is showed as followed.1. Build and verify the simulation platform. The dynamic model of each part of the helicopter is presented. Analyze the structural influence on the main rotor due to the Bell-Hiller stabilizer bar owned by the Hirobo90. Build the simulation platform based on the Matlab/Simulink environment and improve the accuracy of the SUH nonlinear model.2. Implement the research on the control strategy of SUH tracking moving target on the ground based on vision information. In the target tracking system, the integration of airborne visual system and navigation is used to locate the moving target in real time. Considering the possibility of target lost in the field of vision, this paper proposes the control strategy of trajectory prediction and searching based on climbing to solve the SUH tracking problem.3. Build the airborne control system software and complete the flight experiment verification. Build the flight control software on the helicopter platform according to the tracking requirements. The flight control software comprises the communication between the ground station, visual computer, and PC104, the realization of tracking process and tracking control algorithm. During the experiment, the SUH is capable of maintaining the distance to the target under1.5m on the horizontal plane since after the first time the SUH tracked the moving target. The actual flight experiment is showed to verify the availability of the control strategy of tracking moving target on the ground.